System and method for dynamic excitation of an energy storage element configured for use in an electric aircraft

ABSTRACT

A system for dynamic excitation of an energy storage element configured for use in an electric aircraft includes a plurality of propulsors mechanically connected to the electric aircraft. The system includes a plurality of energy storage elements electrically connected to the plurality of propulsors. The system includes a bus element, wherein the bus element is electrically connected to the plurality of energy storage elements and a cross tie element connected to the bus element configured to disconnect a first energy storage element from a second energy storage element. The system includes a modulator unit electrically connected to the bus element configured to modulate a first electrical command to the first energy storage element and a second electrical command to the second energy storage element. The system includes at least a sensor configured to detect an energy datum corresponding to the first energy storage element as a function of the modulation.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of Non-provisional application Ser.No. 17/348,240 filed on Jun. 15, 2021 and entitled “SYSTEM AND METHODFOR DYNAMIC EXCITATION OF AN ENERGY STORAGE ELEMENT CONFIGURED FOR USEIN AN ELECTRIC AIRCRAFT,” the entirety of which is incorporated hereinby reference.

FIELD OF THE INVENTION

The present invention generally relates to the field of electricaircraft. In particular, the present invention is directed to a systemand method for dynamic excitation of an energy storage elementconfigured for use in an electric aircraft.

BACKGROUND

In electrically propelled vehicles, such as an electric vertical takeoffand landing (eVTOL) aircraft, it is essential to maintain the integrityof the aircraft until safe landing. In some flights, a component of theaircraft may experience a malfunction or failure which will put theaircraft in an unsafe mode which will compromise the safety of theaircraft, passengers and onboard cargo.

SUMMARY OF THE DISCLOSURE

In an aspect, a system for dynamic excitation of an energy storageelement configured for use in an electric aircraft includes a pluralityof propulsors mechanically connected to the electric aircraft. Thesystem includes a plurality of energy storage elements electricallyconnected to the plurality of propulsors. The system includes a buselement, wherein the bus element is electrically connected to theplurality of energy storage elements and a cross tie element connectedto the bus element and configured to disconnect a first energy storageelement from a second energy storage element. The system includes amodulator unit electrically connected to the bus element configured tomodulate a first electrical command to the first energy storage elementand a second electrical command to the second energy storage element.The system includes at least a sensor configured to detect an energydatum corresponding to the first energy storage element as a function ofthe modulation.

In another aspect, a method for dynamic excitation of an energy storageelement configured for use in electric aircraft includes disconnecting,by a cross tie element connected to a bus element, a first energystorage element electrically connected to the bus element from a secondenergy storage element electrically connected to the bus element. Themethod includes modulating, by a modulator unit, a first electricalcommand to the first energy storage element and a second electricalcommand to the second energy storage element. The method includesdetecting, by at least a sensor, an energy datum corresponding to thefirst energy storage elements as a function of the modulation.

These and other aspects and features of non-limiting embodiments of thepresent invention will become apparent to those skilled in the art uponreview of the following description of specific non-limiting embodimentsof the invention in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

For the purpose of illustrating the invention, the drawings show aspectsof one or more embodiments of the invention. However, it should beunderstood that the present invention is not limited to the precisearrangements and instrumentalities shown in the drawings, wherein:

FIG. 1 is a block diagram of an exemplary embodiment of a system fordynamic excitation of an energy storage element configured for use in anelectric aircraft;

FIG. 2 is an exemplary method of dynamic excitation of an energy storageelement configured for use in an electric aircraft;

FIG. 3A is a schematic diagram of an exemplary embodiment of a systemfor dynamic excitation of an energy storage element configured for usein an electric aircraft;

FIG. 3B is a schematic diagram of an exemplary embodiment of a systemfor dynamic excitation of an energy storage element configured for usein an electric aircraft;

FIG. 3C are graphs illustrating power capability of two energy storageelements plotted versus depth of discharge for various dischargecapabilities.

FIG. 4A is a schematic diagram an exemplary embodiment of a bus elementwith energy storage elements connected thereto;

FIG. 4B are graphs illustrating mission power demand of various energystorage configurations plotted versus time;

FIG. 5 is an exemplary embodiment of a battery module configured for usein electric aircraft presented in isometric view;

FIG. 6 is a block diagram of an exemplary embodiment of a machinelearning module;

FIG. 7 is an illustration of an exemplary embodiment of an electricaircraft;

FIG. 8 is a block diagram of a computing system that can be used toimplement any one or more of the methodologies disclosed herein and anyone or more portions thereof; and

FIG. 9 is a block diagram of an exemplary embodiment of a flightcontroller.

The drawings are not necessarily to scale and may be illustrated byphantom lines, diagrammatic representations and fragmentary views. Incertain instances, details that are not necessary for an understandingof the embodiments or that render other details difficult to perceivemay have been omitted.

DETAILED DESCRIPTION

In the following description, for the purposes of explanation, numerousspecific details are set forth in order to provide a thoroughunderstanding of the present invention. It will be apparent, however,that the present invention may be practiced without these specificdetails. As used herein, the word “exemplary” or “illustrative” means“serving as an example, instance, or illustration.” Any implementationdescribed herein as “exemplary” or “illustrative” is not necessarily tobe construed as preferred or advantageous over other implementations.All of the implementations described below are exemplary implementationsprovided to enable persons skilled in the art to make or use theembodiments of the disclosure and are not intended to limit the scope ofthe disclosure, which is defined by the claims. For purposes ofdescription herein, the terms “upper”, “lower”, “left”, “rear”, “right”,“front”, “vertical”, “horizontal”, and derivatives thereof shall relateto the invention as oriented in FIG. 7 . Furthermore, there is nointention to be bound by any expressed or implied theory presented inthe preceding technical field, background, brief summary or thefollowing detailed description. It is also to be understood that thespecific devices and processes illustrated in the attached drawings, anddescribed in the following specification, are simply embodiments of theinventive concepts defined in the appended claims. Hence, specificdimensions and other physical characteristics relating to theembodiments disclosed herein are not to be considered as limiting,unless the claims expressly state otherwise.

With continued reference to FIG. 1 , an exemplary embodiment of a system100 for dynamic excitation of an energy storage element configured foruse in an electric aircraft is presented in block diagram form. System100 includes a plurality of propulsors 104 mechanically connected to theelectric aircraft. One of ordinary skill in the art, upon reviewing theentirety of this disclosure, will appreciate that ways discussed hereinof attaching one or more mechanical elements together such as apropulsor and/or actuator to an electric aircraft are only presented asexamples and any number of mechanisms and methods may be used for thispurpose. Said mechanical connecting may include, as a non-limitingexample, rigid coupling (e.g. beam coupling), bellows coupling, bushedpin coupling, constant velocity, split-muff coupling, diaphragmcoupling, disc coupling, donut coupling, elastic coupling, flexiblecoupling, fluid coupling, gear coupling, grid coupling, hirth joints,hydrodynamic coupling, jaw coupling, magnetic coupling, Oldham coupling,sleeve coupling, tapered shaft lock, twin spring coupling, rag jointcoupling, universal joints, welding, riveting, bolts and nuts, crimping,screws, nails, glue and epoxies, or any combination thereof. Anycomponent may include a nonconductive component manufactured from or bya process that renders it incapable or unsuitable for conveyingelectrical through, on, or over it. Plurality of propulsors 104 mayinclude one or more actuators configured to move one or more controlsurfaces as a function of one or more control inputs. Plurality ofpropulsors 104 may be consistent with any propulsor and/or actuator asdescribed in this disclosure. Plurality of propulsors 104 may includeone or more processors as described in this disclosure above andconfigured to control propulsors in the event of one or more computingdevices become inoperable.

With continued reference to FIG. 1 , system 100 includes a plurality ofenergy storage elements 108 electrically connected to plurality ofpropulsors 104. For the purposes of this disclosure, an “energy storageelement” is a device configured to store a form of energy usable by asystem in the same or another form of energy. Plurality of energystorage elements 108 may include at least a cell, such as achemoelectrical, photo electric, or fuel cell. Plurality of energystorage elements 108 may include, without limitation, a generator, aphotovoltaic device, a fuel cell such as a hydrogen fuel cell, directmethanol fuel cell, and/or solid oxide fuel cell, or an electric energystorage device; electric energy storage device may include withoutlimitation a capacitor, an inductor, an energy storage cell and/or abattery. Plurality of energy storage elements 108 may be capable ofproviding sufficient electrical power for auxiliary loads, includingwithout limitation lighting, navigation, communications, de-icing,steering or other systems requiring power or energy. Plurality of energystorage elements 108 may be capable of providing sufficient power forcontrolled descent and landing protocols, including without limitationhovering descent or runway landing. Plurality of energy storage elementsmay include a device for which power that may be produced per unit ofvolume and/or mass has been optimized, at the expense of the maximaltotal specific energy density or power capability, during design.Plurality of energy storage elements 108 may be used, in an embodiment,to provide electrical power to an electric aircraft or drone, such as anelectric aircraft vehicle, during moments requiring high rates of poweroutput, including without limitation takeoff, landing, thermal de-icingand situations requiring greater power output for reasons of stability,such as high turbulence situations. Each energy storage element ofplurality of energy storage elements 108 may include a battery pack, abattery module, a battery cell, and/or another device configured tostore energy in a retrievable form. For the purposes of this disclosure,a “battery pack” is a device configured to store electrical energy in aplurality of smaller portions which may be selectively discharged. Forexample, and without limitation, plurality of storage elements 108 mayinclude a battery pack including a plurality of battery modules whichmay be commanded separately to discharge at different rates orseparately, altogether.

With continued reference to FIG. 1 , plurality of energy storageelements 108 may become substantially discharged during any in-flightfunction due to in-flight power consumption and unforeseen power andcurrent draws that may occur during flight; the power and current drawsmay be imposed by environmental conditions, components of the energystorage elements or other factors which impact the energy source stateof charge (SOC) and/or ability to supply power. For the purposes of thisdisclosure, a “battery module” is an energy storage device made up ofsmaller individual battery storage devices connected together. Forexample, a battery module may include a plurality of battery cells wiredtogether in series and/or parallel configured to store electricalenergy. For the purposes of this disclosure, a “battery cell” is anenergy storage device. For example, and without limitation, a batterycell may include an electrochemical cell configured to store potentialelectrical energy in the form of a chemical reaction. Any battery moduleand/or battery cell described in this disclosure may utilize a pluralityof forms of energy storage one of ordinary skill in the art would beaware of including but not limited to, electrochemical energy storage.Plurality of energy storage elements 108 may be electrically connectedto plurality of propulsors 104. Plurality of energy storage elements 108may be configured to transmit electrical energy to power one or more ofplurality of propulsors 104. Plurality of energy storage elements 108may be configured to selectively transmit electrical energy to any ofthe plurality of propulsors 104. For example, and without limitation, aportion of plurality of energy storage elements 108 may be configured tonot transmit electrical energy to one of the plurality of propulsors 104and transmit a certain amount of electrical energy to a second of theplurality of propulsors 104 and simultaneously transmit less than thecertain amount of electrical energy to a third of the plurality ofpropulsors 104. Plurality of energy storage elements 108 may be dividedin any number of smaller energy storage devices such as a plurality ofbattery modules wired together in series and/or in parallel, wherein theplurality of battery modules may include a plurality of battery cellswired together in series and/or in parallel. Plurality of energy storageelements 108 may include pouch cells, cylindrical cells, electrochemicalcells, or any other configuration as described in this disclosure,namely with reference to FIG. 5 .

With continued reference to FIG. 1 , system 100 includes a bus element112, wherein the bus element is electrically connected to plurality ofenergy storage elements 108. For the purposes of this disclosure, a “buselement” is an electrically conductive pathway connecting at least acomponent in a system configured to convey electrical energy betweencomponents. Bus element 112 may include one or more electricallyconductive pathways configured to transfer electrical energy across thepathways to convey electrical energy from one component to one or moreother components. Bus element 112 may include, without limitation, oneor more metallic strips and/or bars. Bus element 112 may include a ringbus. For the purpose of this disclosure, a “ring bus” is a bus elementwherein circuit breakers are connected to form a ring with isolators onboth sides of each circuit breaker. Ring bus may include componentconfigured to isolate a fault by tripping two circuit breakers while allother circuits remain in service. Bus element 112 may be disposed in oron a switchgear, panel board, busway enclosure, plurality of energystorage elements 108, any portion of electric aircraft, plurality ofpropulsors 104, or a combination thereof. Bus element 112 may also beused to connect high voltage equipment at electrical switchyards, andlow voltage equipment in plurality of energy storage elements 108. Buselement 112 may be uninsulated; bus element 112 may have sufficientstiffness to be supported in air by insulated pillars. These featuresallow sufficient cooling of the conductors, and the ability to tap in atvarious points without creating a new joint. Bus element 112 may includematerial composition and cross-sectional size configured to conductelectricity where the size and material determine the maximum amount ofcurrent that can be safely carried. Bus element 112 may be produced in aplurality of shapes including flat strips, solid bars, rods, or acombination thereof. Bus element 112 may be composed of copper, brass,aluminum as solid or hollow tubes, in embodiments. Bus element 112 mayinclude flexible buses wherein thin conductive layers are sandwichedtogether; such an arrangement may include a structural frame and/orcabinet configured to provide rigidity to bus element 112. Bus element112 may include distribution boards configured to split the electricalsupply into separate circuits at one location. Busways, or bus ducts,are long busbars with a protective cover. Rather than branching from themain supply at one location, they allow new circuits to branch offanywhere along the route of the busway. Bus element 112 may either besupported on insulators, or else insulation may completely surround it.Busbars are protected from accidental contact either by an enclosure orby design configured to remove it from reach. Bus element 112 may beconnected to each other and to electrical apparatus by bolted, clamped,or welded connections. Joints between high-current bus element 112sections have precisely machined matching surfaces that aresilver-plated to reduce the contact resistance.

With continued reference to FIG. 1 , system 100 includes a cross tieelement 116. Cross tie element 116 is connected to the bus element.Cross tie element 116 is configured to disconnect a first energy storageelement from a second energy storage element. The first and secondenergy storage elements may be consistent with any energy storageelement as described in this disclosure such as any of plurality ofenergy storage elements 108. For the purposes of this disclosure, a“cross tie element” is a device or protocol configured to disconnect andelectrically isolate a portion of elements connected to a bus elementfrom the rest of the elements connected to bus element. Cross tieelement 116 may include a mechanical, electromechanical, hydraulic,pneumatic, or other type of device configured to actuate a portion ofbus element 112. Cross tie element 116 may include one or more relaysconnected to an electrical circuit configured to open or close anothercircuit as a function of the manipulation of a separate electricalcircuit. For example, and without limitation, cross tie element 116 maybe configured to receive a datum, more than one elements of data,command, signal, or other communication to engage or disengage todisconnect at least a portion of plurality of energy storage elements108 from the plurality of energy storage elements 108. Cross tie element116 may include a switch configured to operate in one of two positions,an open and a closed position. Cross tie element 116 may includeelectrically actuated switches including transistors, bipolar junctiontransistors (BJT), field-effect transistors (FETs), metal oxidefield-effect transistors (MOSFETs), a combination thereof, or othernondisclosed elements alone or in combination. Cross tie element mayinclude a bus tie element joining two or more elements or groupsthereof.

Further referring to FIG. 1 , system 100 may include multiple energystorage elements 108, which may be combined and/or detached from oneanother using one or more cross tie elements 116. For instance, andwithout limitation, disconnection of a cross tie element 116 may isolatea single energy storage element of plurality of energy storage elements108 from all other energy storage elements and/or may isolate a firstplurality of energy storage elements from a second plurality of energystorage elements. More generally, any number of cross tie elements 116may operate to divide plurality of energy storage units 108 into variousdifferent groups and/or isolate any single energy storage unit one byone or two or more at a time. Where cross tie element 116 separates afirst energy storage unit from a second energy storage unit, either offirst or second energy storage unit may be part of a plurality of energystorage units that remain interconnected and/or may be isolated from allother energy storage units.

With continued reference to FIG. 1 , system 100 includes a modulatorunit 120 electrically connected to bus element 112. For the purposes ofthis disclosure, a “modulator unit” is a circuit, which may include anycombinational and/or sequential logic circuit and which may beimplemented, without limitation, as an application-specific integratedcircuit (ASIC), FPGA, and/or at least a computing device, and which isconfigured to generate electrical signals indicating one or more energyoutputs of an energy storage element. Modulator unit 120 may be includedin a flight controller, as described in further detail below inreference to FIG. 9 . Modulator unit 120 is electrically andcommunicatively connected to bus element 112. Modulator unit 120 isconfigured to modulate an electrical command 124 between at least aportion of plurality of energy storage elements 108 or in other words,modulator unit 120 is configured to modulate a first electrical commandto the first energy storage element and a second electrical command tothe second energy storage element. The first energy storage element maybe a portion of plurality of energy storage elements 108. Second energystorage element may be another distinct portion of plurality of energystorage elements 108. For the purposes of this disclosure, “electricalcommand” is an electrical signal indicating one or more energy outputsfrom an energy storage element to another component within a systemconnected thereto. Modulator unit 120 may include a processor consistentwith the description of any processor in this disclosure. Computingdevice may include any computing device as described in this disclosure,including without limitation a microcontroller, microprocessor, digitalsignal processor (DSP) and/or system on a chip (SoC) as described inthis disclosure. Computing device may include, be included in, and/orcommunicate with a mobile device such as a mobile telephone orsmartphone. System 100 may include a single computing device operatingindependently, or may include two or more computing device operating inconcert, in parallel, sequentially or the like; two or more computingdevices may be included together in a single computing device or in twoor more computing devices. System 100 may interface or communicate withone or more additional devices as described below in further detail viaa network interface device. Network interface device may be utilized forconnecting system 100 to one or more of a variety of networks, and oneor more devices. Examples of a network interface device include, but arenot limited to, a network interface card (e.g., a mobile networkinterface card, a LAN card), a modem, and any combination thereof.Examples of a network include, but are not limited to, a wide areanetwork (e.g., the Internet, an enterprise network), a local areanetwork (e.g., a network associated with an office, a building, a campusor other relatively small geographic space), a telephone network, a datanetwork associated with a telephone/voice provider (e.g., a mobilecommunications provider data and/or voice network), a direct connectionbetween two computing devices, and any combinations thereof. A networkmay employ a wired and/or a wireless mode of communication. In general,any network topology may be used. Information (e.g., data, softwareetc.) may be communicated to and/or from a computer and/or a computingdevice. System 100 may include but is not limited to, for example, acomputing device or cluster of computing devices in a first location anda second computing device or cluster of computing devices in a secondlocation. System 100 may include one or more computing devices dedicatedto data storage, security, distribution of traffic for load balancing,and the like. System 100 may distribute one or more computing tasks asdescribed below across a plurality of computing devices of computingdevice, which may operate in parallel, in series, redundantly, or in anyother manner used for distribution of tasks or memory between computingdevices. System 100 may be implemented using a “shared nothing”architecture in which data is cached at the worker, in an embodiment,this may enable scalability of system 100 and/or computing device.

With continued reference to FIG. 1 , system 100 and any one or morecomputing devices may be designed and/or configured to perform anymethod, method step, or sequence of method steps in any embodimentdescribed in this disclosure, in any order and with any degree ofrepetition. For instance, system 100 may be configured to perform asingle step or sequence repeatedly until a desired or commanded outcomeis achieved; repetition of a step or a sequence of steps may beperformed iteratively and/or recursively using outputs of previousrepetitions as inputs to subsequent repetitions, aggregating inputsand/or outputs of repetitions to produce an aggregate result, reductionor decrement of one or more variables such as global variables, and/ordivision of a larger processing task into a set of iteratively addressedsmaller processing tasks. System 100 may perform any step or sequence ofsteps as described in this disclosure in parallel, such assimultaneously and/or substantially simultaneously performing a step twoor more times using two or more parallel threads, processor cores, orthe like; division of tasks between parallel threads and/or processesmay be performed according to any protocol suitable for division oftasks between iterations. Persons skilled in the art, upon reviewing theentirety of this disclosure, will be aware of various ways in whichsteps, sequences of steps, processing tasks, and/or data may besubdivided, shared, or otherwise dealt with using iteration, recursion,and/or parallel processing.

With continued reference to FIG. 100 , system 100, processors, and/orcontrollers may be controlled by one or moreProportional-Integral-Derivative (PID) algorithms driven, for instanceand without limitation by stick, rudder and/or thrust control lever withanalog to digital conversion for fly by wire as described in thisdisclosure and related applications incorporated in this disclosure byreference. A “PID controller”, for the purposes of this disclosure, is acontrol loop mechanism employing feedback that calculates an error valueas the difference between a desired setpoint and a measured processvariable and applies a correction based on proportional, integral, andderivative terms; integral and derivative terms may be generated,respectively, using analog integrators and differentiators constructedwith operational amplifiers and/or digital integrators anddifferentiators, as a non-limiting example. A similar philosophy toattachment of flight control systems to sticks or other manual controlsvia pushrods and wire may be employed except the conventional surfaceservos, steppers, or other electromechanical actuator components may beconnected to the cockpit inceptors via electrical wires. Fly-by-wiresystems may be beneficial when considering the physical size of theaircraft, utility of for fly by wire for quad lift control and may beused for remote and autonomous use, consistent with the entirety of thisdisclosure. System 100 may harmonize vehicle flight dynamics with besthandling qualities utilizing the minimum amount of complexity whether itbe additional modes, augmentation, or external sensors as described inthis disclosure.

With continued reference to FIG. 1 , modulator unit 120 may beconfigured to transmit one or more electrical signals consistent withany description of electrical signals in this disclosure. Modulator unit120 may be configured to transmit commands to one or more of theplurality of energy storage elements 108 in order to dynamically excitethe commanded one or more of the plurality of energy storage elements108. For the purpose of this disclosure, “dynamic excitation” iscommanding of an energy storage element to discharge energy at one ormore rates of discharge or total energy discharged. Modulator unit 120may generate and transmit electrical command 124 to only the portion ofthe plurality of energy storage elements 120. Modulator unit 120 maygenerate one or more electrical commands 124 and transmit differentelectrical commands 124 to separate portions of the plurality of energystorage elements 108. For example, and without limitation, modulatorunit 124 may generate and transmit electrical command 124 to thedisconnected portion of plurality of energy storage elements 108 andcommand said portion to discharge a certain amount of energy to power aportion of plurality of propulsors 104.

With continued reference to FIG. 1 , modulator unit 120 may modulate oneor more electrical commands 124 to plurality of energy storage elements108 in order to measure one or more electrical parameters or a changethereof. measuring at least an electrical parameter may includedetecting a change in the at least an electrical parameter. In anembodiment, the change in voltage as a function of time may be measured.In an embodiment, a change in current as a function of time may bemeasured. As an example and without limitation, detecting a change inthe at least an electrical parameter may be accomplished by repeatedlymeasuring or sampling data detected by at least a sensor 128. As anothernon-limiting example, detecting a change in the at least an electricalparameter may be accomplished by controller, modulator unit 120 oranother component using the repeated samples or measurement to calculatechanges or rates of change. As a further example and without limitation,detecting a change in the at least an electrical parameter may beaccomplished by a curve, graph, or continuum of measured values may bematched to mathematical functions using, such as linear approximation,splining, Fourier series calculations, or the like. In an embodiment,detecting a change in at least an electrical parameter may include,without limitation, detecting a change in a first electrical parameterof the at least an electrical parameter, detecting a change in a secondelectrical parameter of the at least an electrical parameter, andcalculating a dependency of the second electrical parameter on the firstelectrical parameter. In an embodiment, detecting a change in at leastan electrical parameter may further include, without limitation,calculating a change in voltage as a function of time. As an example andwithout limitation, calculating a change in voltage as a function oftime may include sampling voltage repeatedly or continuously over a timeperiod, and the rate of change over time may be observed. As anothernon-limiting example, detecting a change in at least an electricalparameter may further include, without limitation, detecting current asa function of voltage. As an example and without limitation, detectingcurrent as a function of voltage may include instantaneous or averagevoltage may be divided by current according to Ohm's law to determineresistance, while instantaneous or average impedance may similarly becalculated using formulas relating voltage, current, or other parametersto impedance. As another non-limiting example, detection of at least anelectrical parameter may be performed by digital sampling. As an exampleand without limitation, digital sampling may include at least anelectrical parameter that is directly measured may be sampled, such as,at a rate expressed in frequency of sample per second, such as withoutlimitation a 10 Hz sample rate. Directly measured or sampled electricalparameter may be subjected to one or more signal processing actions,including scaling, low-pass filtering, high-pass filtering, band-passfiltering, band-stop filtering, noise filtering, or the like.

With continued reference to FIG. 1 , modulator unit 120 may modulatorelectrical command 124 thereby inducing change in first electricalparameter may further include modifying electrical power being suppliedto at least a propulsor of the electronic aircraft from an energy sourceof the at least an energy source. In an embodiment, modulator unit mayreduce power to a propulsor from plurality of energy storage elements108 to reduce speed or altitude. Alternatively or additionally,modulator unit 120 may increase power to a propulsor from plurality ofenergy storage elements 108, increasing speed or altitude. In anembodiment, when power to propulsor is increased or decreased relativelybriefly, or to a limited extent, there may be a negligible change inspeed or altitude as a result of the change. Alternatively oradditionally, increases or decreases in power to a propulsor may bebalanced by counteracting increases or decreases in power. For instance,modulator unit 120 may apply more torque, causing the provision of morepower, to one propulsor of multiple propulsors while applying lesstorque, and thus providing less power to another propulsor, such thatnet increased or decreased power from all propulsors is unchanged; thismay be done alternately between sides so a course of electronic aircraftis unaltered. Alternatively or additionally, plurality of energy storageelements 108 may be connected to a motor that has dual (or multiple)windings, each winding going to a different separate energy source.Power to one set of windings may be increased while power to otherwindings is deceased, such that at least one of plurality of energystorage elements 108, has a net increase or decrease in power outputwhile a change in propulsive power from the propulsor is negligible ornonexistent. Multiple energy storage elements of plurality of energystorage elements 108, may have power increased or decreased, permittingmeasurement of resulting changes in at least an electrical parameter foreach of multiple energy sources. Modulator unit 120 may includemodulating one or more electrical signals consistent with U.S. patentapplication Ser. No. 16/598,307 titled “METHODS AND SYSTEMS FOR ALTERINGPOWER DURING FLIGHT” filed on Oct. 10, 2019, which is incorporatedherein by reference in its entirety.

With continued reference to FIG. 1 , system 100 includes at least asensor 128 configured to detect an energy datum 132 corresponding to thefirst energy storage element as a function of the modulation. At least asensor 128 may be configured to detect energy datum 132 corresponding tothe at least a portion of energy storage elements as a function of themodulation. For the purposes of this disclosure, “energy datum” is atleast an element of data representative of one or more characteristicscorresponding to at least a portion of the plurality of energy storageelements. Energy datum 132 may include at least an electrical parameterwhich may include, without limitation, voltage, current, impedance,resistance, and/or temperature. Current may be measured by using a senseresistor in series with the circuit and measuring the voltage dropacross the resister, or any other suitable instrumentation and/ormethods for detection and/or measurement of current. Voltage may bemeasured using any suitable instrumentation or method for measurement ofvoltage, including methods for estimation as described in further detailbelow. Each of resistance, current, and voltage may alternatively oradditionally be calculated using one or more relations between impedanceand/or resistance, voltage, and current, for instantaneous,steady-state, variable, periodic, or other functions of voltage,current, resistance, and/or impedance, including without limitationOhm's law and various other functions relating impedance, resistance,voltage, and current with regard to capacitance, inductance, and othercircuit properties.

With continued reference to FIG. 1 , at least a sensor 128 may includeat least an environmental sensor. As used in this disclosure, at leastan environmental sensor may be used to detect ambient temperature,barometric pressure, air velocity, motion sensors which may includegyroscopes, accelerometers, inertial measurement unit (IMU), variousmagnetic, humidity, oxygen. At least a sensor 128 may include at least ageospatial sensor. As used in this disclosure, a geospatial sensor mayinclude optical/radar/Lidar, GPS and may be used to detect aircraftlocation, aircraft speed, aircraft altitude and whether the aircraft ison the correct location of the flight plan. At least a sensor 128 may belocated inside the electric aircraft; at least a sensor may be inside acomponent of the aircraft. In an embodiment, environmental sensor maysense one or more environmental conditions or parameters outside theelectric aircraft, inside the electric aircraft, or within or at anycomponent thereof, including without limitation plurality of energystorage elements 108, plurality of propulsors 104, or the like. At leasta sensor 128 may be incorporated into vehicle or aircraft or be remote.At least a sensor 128 may include one or more sensors configured todetect electrical phenomena, physical phenomena, or a combinationthereof. One of ordinary skill in the art, after reviewing the entiretyof this disclosure, will be aware of multiple types, implementations,and uses for a proximity sensor including measuring the distance to asensor from an object, measuring the rate of change of distance of anobject from a sensor, or triggering one or more other circuits as afunction of a detection from said proximity circuit, among a pluralityof others. At least a sensor 128 may be disposed in, at, or on pluralityof storage elements 108. At least a sensor 128 may be mechanically andcommunicatively connected consistent with the entirety of thisdisclosure to one or more of plurality of energy storage elements 108.

Still referring to FIG. 1 , at least a sensor 128 may include more thanone proximity sensor configured to detect a distance, change indistance, threshold distance, or a combination thereof of one or morecomponents integral to plurality of energy storage elements 108.Proximity sensor may be a sensor able to detect the presence of nearbyobjects without any physical contact. Proximity sensor may emit anelectromagnetic field or a beam of electromagnetic radiation such asinfrared, for instance, and looks for changes in the field or a returnsignal. The object, or portion of plurality of energy storage elements108 being sensed may be referred to as the proximity sensor's target.Different proximity sensor targets demand different sensors. Forexample, a capacitive proximity sensor or photoelectric sensor might besuitable for a plastic target; an inductive proximity sensor alwaysrequires a metal target. Proximity sensor may include a capacitiveproximity sensor, a capacitive proximity sensor may be based oncapacitive coupling, that can detect and measure anything that isconductive or has a dielectric different from air.

With continued reference to FIG. 1 ; proximity sensor may includeprojected capacitive touch (PCT) technology, which is a capacitivetechnology which allows more accurate and flexible operation, by etchingthe conductive layer. A grid may be formed either by etching one layerto form a grid pattern of electrodes, or by etching two separate,parallel layers of conductive material with perpendicular lines ortracks to form the grid; comparable to the pixel grid found in manyliquid crystal displays (LCD). The greater resolution of PCT allowsoperation with no direct contact, such that the conducting layers can becoated with further protective insulating layers, and operate even underscreen protectors, or behind weather and vandal-proof glass. Because atop layer of a PCT may be composed of glass, PCT may represent a morerobust solution versus resistive touch technology. PCT may include aself-capacitance and/or mutual capacitance. For the purposes of thisdisclosure, “mutual capacitive” sensors have a capacitor at eachintersection of each row and each column. Proximity sensor may also beused to detect machine vibration monitoring to measure the variation indistance between a shaft and its support bearing or any two or moreelements included by plurality of energy storage elements 108. Proximitysensor may include a photoelectric sensor. A photoelectric sensor may bea device used to determine the distance, absence, or presence of anobject by using a light transmitter, often infrared and a photoelectricreceiver.

With continued reference to FIG. 1 , proximity sensor may includeopposed (through-beam), retro-reflective, and proximity-sensing(diffused) types of proximity sensors. A through-beam arrangement mayconsist of a receiver located within the line-of-sight of thetransmitter. In this mode, an object may be detected when the light beamis blocked from getting to the receiver from the transmitter. Aretroreflective arrangement may place the transmitter and receiver atthe same location and uses a reflector to bounce the inverted light beamback from the transmitter to the receiver. An object may be sensed whenthe beam is interrupted and fails to reach the receiver. Aproximity-sensing (diffused) arrangement may be one in which thetransmitted radiation must reflect off the object in order to reach thereceiver. In this mode, an object is detected when the receiver sees thetransmitted source rather than when it fails to see it. As inretro-reflective sensors, diffuse sensor emitters and receivers may belocated in the same housing. But the target acts as the reflector sothat detection of light is reflected off the disturbance object. Theemitter may send out a beam of light (most often a pulsed infrared,visible red, or laser) that diffuses in all directions, filling adetection area. The target may then enter the area and deflects part ofthe beam back to the receiver. Detection occurs and output is turned onor off when sufficient light falls on the receiver. Some photo-eyes havetwo different operational types, light operate and dark operate. Thelight operates photo eyes become operational when the receiver“receives” the transmitter signal. Dark operate photo eyes becomeoperational when the receiver “does not receive” the transmitter signal.The detecting range of a photoelectric sensor may be its “field ofview”, or the maximum distance from which the sensor can retrieveinformation, minus the minimum distance. A minimum detectable object isthe smallest object the sensor can detect.

With continued reference to FIG. 1 , proximity sensor may include anelectromagnetic induction sensor configured to use the principle ofelectromagnetic induction to detect or measure objects. An inductordevelops a magnetic field when a current flows through it;alternatively, a current will flow through a circuit containing aninductor when the magnetic field through it changes. This effect can beused to detect metallic objects that interact with a magnetic field.Nonmetallic substances such as liquids or some kinds of dirt do notinteract with the magnetic field, so an inductive sensor can operate inwet or dirty conditions which may arise in or on plurality of energystorage elements 108.

With continued reference to FIG. 1 , at least a sensor 128 may include aload cell. A load cell may be a force transducer. It may convert a forcesuch as tension, compression, pressure, or torque into an electricalsignal that can be measured and standardized. At least a sensor 128 may,in a load cell embodiment measure the force of one or more expanding orcontracting elements included by plurality of energy storage elements108. As the force applied to the load cell increases, the electricalsignal changes proportionally. Load cell may be strain gauges,pneumatic, and hydraulic, and in non-limiting embodiments, at least asensor 128 may include these or other nondisclosed sensors alone or incombination.

Referring now to FIG. 1 , at least a sensor 128 may include a pluralityof sensors in the form of individual sensors or a sensor suite workingin tandem or individually. A sensor suite may include a plurality ofindependent sensors, as described in this disclosure, where any numberof the described sensors may be used to detect any number of physical orelectrical quantities associated with an aircraft power system or anelectrical energy storage system. Independent sensors may includeseparate sensors measuring physical or electrical quantities that may bepowered by and/or in communication with circuits independently, whereeach may signal sensor output to a control circuit such as a usergraphical interface. In a non-limiting example, there may be fourindependent sensors housed in and/or on battery module 500 measuringtemperature, electrical characteristic such as voltage, amperage,resistance, or impedance, proximity, or any other parameters and/orquantities as described in this disclosure. In an embodiment, use of aplurality of independent sensors may result in redundancy configured toemploy more than one sensor that measures the same phenomenon, thosesensors being of the same type, a combination of, or another type ofsensor not disclosed, so that in the event one sensor fails, the abilityof system 100 and/or user to detect phenomenon is maintained and in anon-limiting example, a user alter aircraft usage pursuant to sensorreadings.

With continued reference to FIG. 1 , at least a sensor 128 may includeelectrical sensors. Electrical sensors may be configured to measurevoltage across a component, electrical current through a component, andresistance of a component. Electrical sensors may include separatesensors to measure each of the previously disclosed electricalcharacteristics such as voltmeter, ammeter, and ohmmeter, respectively.

With continued reference to FIG. 1 , alternatively or additionally, atleast a sensor 128 may include a sensor or plurality thereof configuredto detect voltage and direct the charging of individual energy storageelements such as battery cells according to charge level; detection maybe performed using any suitable component, set of components, and/ormechanism for direct or indirect measurement and/or detection of voltagelevels, including without limitation comparators, analog to digitalconverters, any form of voltmeter, or the like. At least a sensor 128and/or a control circuit incorporated therein and/or communicativelyconnected thereto may be configured to adjust charge to one or more thebattery cells as a function of a charge level and/or a detectedparameter. For instance, and without limitation, at least a sensor 128may be configured to determine that a charge level of a battery cell ishigh based on a detected voltage level of that battery cell or portionof the battery pack. At least a sensor 128 may alternatively oradditionally detect a charge reduction event, defined for purposes ofthis disclosure as any temporary or permanent state of a battery cellrequiring reduction or cessation of charging; a charge reduction eventmay include a cell being fully charged and/or a cell undergoing aphysical and/or electrical process that makes continued charging at acurrent voltage and/or current level inadvisable due to a risk that thecell will be damaged, will overheat, or the like. Detection of a chargereduction event may include detection of a temperature, of the cellabove a threshold level, detection of a voltage and/or resistance levelabove or below a threshold, or the like. At least a sensor 128 mayinclude digital sensors, analog sensors, or a combination thereof. Atleast a sensor 128 may include digital-to-analog converters (DAC),analog-to-digital converters (ADC, A/D, A-to-D), a combination thereof,or other signal conditioning components used in transmission of a firstplurality of battery pack data to a destination over wireless or wiredconnection.

With continued reference to FIG. 1 , at least a sensor 128 may includethermocouples, thermistors, thermometers, passive infrared sensors,resistance temperature sensors (RTD's), semiconductor based integratedcircuits (IC), a combination thereof or another undisclosed sensor type,alone or in combination. Temperature, for the purposes of thisdisclosure, and as would be appreciated by someone of ordinary skill inthe art, is a measure of the heat energy of a system. Temperature, asmeasured by any number or combinations of sensors present within atleast a sensor 128, may be measured in Fahrenheit (° F.), Celsius (°C.), Kelvin (° K), or another scale alone or in combination. Thetemperature measured by sensors may include electrical signals which aretransmitted to their appropriate destination wireless or through a wiredconnection.

With continued reference to FIG. 1 , at least a sensor 128 may include asensor configured to detect gas that may be emitted during or after acell failure. “Cell failure”, for the purposes of this disclosure,refers to a malfunction of a battery cell, which may be anelectrochemical cell, that renders the cell inoperable for its designedfunction, namely providing electrical energy to at least a portion of anelectric aircraft. Byproducts of cell failure may include gaseousdischarge including oxygen, hydrogen, carbon dioxide, methane, carbonmonoxide, a combination thereof, or another undisclosed gas, alone or incombination. Further the sensor configured to detect vent gas fromelectrochemical cells may include a gas detector. For the purposes ofthis disclosure, a “gas detector” is a device used to detect a gas ispresent in an area. Gas detectors, and more specifically, the gas sensorthat may be used in at least a sensor 128, may be configured to detectcombustible, flammable, toxic, oxygen depleted, a combination thereof,or another type of gas alone or in combination. The gas sensor that maybe present in at least a sensor 128 may include a combustible gas,photoionization detectors, electrochemical gas sensors, ultrasonicsensors, metal-oxide-semiconductor (MOS) sensors, infrared imagingsensors, a combination thereof, or another undisclosed type of gassensor alone or in combination. At least a sensor 128 may includesensors that are configured to detect non-gaseous byproducts of cellfailure including, in non-limiting examples, liquid chemical leaksincluding aqueous alkaline solution, ionomer, molten phosphoric acid,liquid electrolytes with redox shuttle and ionomer, and salt water,among others. At least a sensor 128 may include sensors that areconfigured to detect non-gaseous byproducts of cell failure including,in non-limiting examples, electrical anomalies as detected by any of theprevious disclosed sensors or components.

With continued reference to FIG. 1 , at least a sensor 128 may beconfigured to detect events where voltage nears an upper voltagethreshold or lower voltage threshold. The upper voltage threshold may bestored in data storage system for comparison with an instant measurementtaken by any combination of sensors present within at least a sensor128. The upper voltage threshold may be calculated and calibrated basedon factors relating to battery cell health, maintenance history,location within battery pack, designed application, and type, amongothers. At least a sensor 128 may measure voltage at an instant, over aperiod of time, or periodically. At least a sensor 128 may be configuredto operate at any of these detection modes, switch between modes, orsimultaneous measure in more than one mode. First battery managementcomponent may detect through at least a sensor 128 events where voltagenears the lower voltage threshold. The lower voltage threshold mayindicate power loss to or from an individual battery cell or portion ofthe battery pack. First battery management component may detect throughat least a sensor 128 events where voltage exceeds the upper and lowervoltage threshold. Events where voltage exceeds the upper and lowervoltage threshold may indicate battery cell failure or electricalanomalies that could lead to potentially dangerous situations foraircraft and personnel that may be present in or near its operation.

With continued reference to FIG. 1 , one or more sensors including atleast a sensor 128 may be communicatively connected to at least a pilotcontrol, the manipulation of which, may constitute at least an aircraftcommand. “Communicative connecting”, for the purposes of thisdisclosure, refers to two or more components electrically, or otherwiseconnected and configured to transmit and receive signals from oneanother. Signals may include electrical, electromagnetic, visual, audio,radio waves, or another undisclosed signal type alone or in combination.Any datum or signal in this disclosure may include an electrical signal.Electrical signals may include analog signals, digital signals, periodicor aperiodic signal, step signals, unit impulse signal, unit rampsignal, unit parabolic signal, signum function, exponential signal,rectangular signal, triangular signal, sinusoidal signal, sinc function,or pulse width modulated signal. At least a sensor may includecircuitry, computing devices, electronic components or a combinationthereof that translates input datum into at least an electronic signalconfigured to be transmitted to another electronic component. At least asensor communicatively connected to at least a pilot control may includea sensor disposed on, near, around or within at least pilot control. Atleast a sensor may include a motion sensor. “Motion sensor”, for thepurposes of this disclosure refers to a device or component configuredto detect physical movement of an object or grouping of objects. One ofordinary skill in the art would appreciate, after reviewing the entiretyof this disclosure, that motion may include a plurality of typesincluding but not limited to: spinning, rotating, oscillating, gyrating,jumping, sliding, reciprocating, or the like. At least a sensor mayinclude, torque sensor, gyroscope, accelerometer, torque sensor,magnetometer, inertial measurement unit (IMU), pressure sensor, forcesensor, proximity sensor, displacement sensor, vibration sensor, amongothers. At least a sensor may include a sensor suite which may include aplurality of sensors that may detect similar or unique phenomena. Forexample, in a non-limiting embodiment, sensor suite may include aplurality of accelerometers, a mixture of accelerometers and gyroscopes,or a mixture of an accelerometer, gyroscope, and torque sensor.

With continued reference to FIG. 1 , any of the sensors described inthis disclosure may be included within a sense board, wherein the senseboard may include sensors configured to measure physical and/orelectrical parameters, such as without limitation temperature and/orvoltage, of one or more the battery cells. Sense board and/or a controlcircuit incorporated therein and/or communicatively connected thereto,may further be configured to detect failure within each battery cell,for instance and without limitation as a function of and/or usingdetected physical and/or electrical parameters. Cell failure may becharacterized by a spike in temperature and sense board may beconfigured to detect that increase and generate signals, which arediscussed further below, to notify users, support personnel, safetypersonnel, maintainers, operators, emergency personnel, aircraftcomputers, or a combination thereof. Sense board may includethermocouples, thermistors, thermometers, passive infrared sensors,resistance temperature sensors (RTD's), semiconductor based integratedcircuits (IC), a combination thereof or another undisclosed sensor type,alone or in combination. Temperature, for the purposes of thisdisclosure, and as would be appreciated by someone of ordinary skill inthe art, is a measure of the heat energy of a system. Heat energy is, atits core, the measure of kinetic energy of matter present within asystem. Temperature, as measured by any number or combinations ofsensors present on a sense board, may be measured in Fahrenheit (° F.),Celsius (° C.), Kelvin (° K), or another scale alone or in combination.The temperature measured by sensors may include electrical signals whichare transmitted to their appropriate destination wireless or through awired connection.

Further referring to FIG. 1 , a sense board may detect voltage anddirect the charging or discharging of individual the battery cellsaccording to charge level; detection may be performed using any suitablecomponent, set of components, and/or mechanism for direct or indirectmeasurement and/or detection of voltage levels, including withoutlimitation comparators, analog to digital converters, any form ofvoltmeter, or the like.

Further referring to FIG. 1 , system 100 may include one or morecomputing devices such as a sense board and/or a control circuitincorporated therein and/or communicatively connected thereto may beconfigured to adjust charge to at least one battery cell of theplurality of the battery cells as a function of the detected parameter;this may include adjustment in charge as a function of detection of acharge reduction event. Alternatively, or additionally, sense boardand/or a control circuit incorporated therein and/or communicativelyconnected thereto may be configured to increase charge to a cell upondetection that a charge reduction event has ceased; for instance, senseboard and/or a control circuit incorporated therein and/orcommunicatively connected thereto may detect that a temperature of asubject battery cell has dropped below a threshold and may increasecharge again. Charge may be regulate using any suitable means forregulation of voltage and/or current, including without limitation useof a voltage and/or current regulating component, including one that maybe electrically controlled such as a transistor; transistors may includewithout limitation bipolar junction transistors (BJTs), field effecttransistors (FETs), metal oxide field semiconductor field effecttransistors (MOSFETs), and/or any other suitable transistor or similarsemiconductor element. Voltage and/or current to one or more cells mayalternatively or additionally be controlled by thermistor in parallelwith a cell that reduces its resistance when a temperature of the cellincreases, causing voltage across the cell to drop, and/or by a currentshunt or other device that dissipates electrical power, for instancethrough a resistor.

Still referring to FIG. 1 , system 100 may include a high current busbarand integral electrical connections. System 100 may charge individualthe battery cells depending on battery cell charge levels. Charging maybe balanced throughout the plurality of the battery cells by directingenergy through balance resistors by dissipating current throughresistors as heat. In this manner, the battery cells may be chargedevenly, for example, cells with a lower amount of electrical energy willcharge more than the battery cells with a greater amount of energy. Cellcharge balancing may be controlled via any means described above forregulation of charge levels, including without limitation metal oxidesilicon field effect transistor or a metal oxide semiconductor fieldeffect transistor (MOSFET).

With continued reference to FIG. 1 , outputs from any sensors or anyother component present within system may be analog or digital. Onboardor remotely located processors can convert those output signals from thesensor suite to a usable form by the destination of those signals. Theusable form of output signals from sensors, through processor may beeither digital, analog, a combination thereof or an otherwise unstatedform. Processing may be configured to trim, offset, or otherwisecompensate the outputs of sensor suite. Based on sensor output, theprocessor can determine the output to send to downstream component.Processor can include signal amplification, operational amplifier(OpAmp), filter, digital/analog conversion, linearization circuit,current-voltage change circuits, resistance change circuits such asWheatstone Bridge, an error compensator circuit, a combination thereofor otherwise undisclosed components. Any signal as described in thisdisclosure may be manipulated by one or more computing devices orcomponents thereof. An integrator may include an operational amplifierconfigured to perform a mathematical operation of integration of asignal; output voltage may be proportional to input voltage integratedover time. An input current may be offset by a negative feedback currentflowing in the capacitor, which may be generated by an increase inoutput voltage of the amplifier. The output voltage may be thereforedependent on the value of input current it has to offset and the inverseof the value of the feedback capacitor. The greater the capacitor value,the less output voltage has to be generated to produce a particularfeedback current flow. The input impedance of the circuit may be almostzero because of the Miller effect. Hence all the stray capacitances (thecable capacitance, the amplifier input capacitance, etc.) are virtuallygrounded and they have no influence on the output signal. An operationalamplifier as used in an integrator may be used as part of a positive ornegative feedback amplifier or as an adder or subtractor type circuitusing just pure resistances in both the input and the feedback loop. Asits name implies, the Op-amp Integrator is an operational amplifiercircuit that causes the output to respond to changes in the inputvoltage over time as the op-amp produces an output voltage which may beproportional to the integral of the input voltage. In other words, themagnitude of the output signal may be determined by the length of time avoltage may be present at its input as the current through the feedbackloop charges or discharges the capacitor as the required negativefeedback occurs through the capacitor. Input voltage may be Vin andrepresent the input signal to processor such as one or more of inputdatum and/or attitude error. Output voltage Vout may represent outputvoltage such as one or more outputs like rate setpoint. When a stepvoltage, Vin may be firstly applied to the input of an integratingamplifier, the uncharged capacitor C has very little resistance and actsa bit like a short circuit allowing maximum current to flow via theinput resistor, Rin as potential difference exists between the twoplates. No current flows into the amplifiers input and point X may be avirtual earth resulting in zero output. As the impedance of thecapacitor at this point may be very low, the gain ratio of X_(C)/R_(IN)may be also very small giving an overall voltage gain of less than one,(voltage follower circuit). As the feedback capacitor, C begins tocharge up due to the influence of the input voltage, its impedance Xcslowly increase in proportion to its rate of charge. The capacitorcharges up at a rate determined by the RC time constant, (τ) of theseries RC network. Negative feedback forces the op-amp to produce anoutput voltage that maintains a virtual earth at the op-amp's invertinginput. Since the capacitor may be connected between the op-amp'sinverting input (which may be at virtual ground potential) and theop-amp's output (which may be now negative), the potential voltage, Vcdeveloped across the capacitor slowly increases causing the chargingcurrent to decrease as the impedance of the capacitor increases. Thisresults in the ratio of Xc/Rin increasing producing a linearlyincreasing ramp output voltage that continues to increase until thecapacitor may be fully charged. At this point the capacitor acts as anopen circuit, blocking any more flow of DC current. The ratio offeedback capacitor to input resistor (X_(C)/R_(IN)) may be now infiniteresulting in infinite gain. The result of this high gain, similar to theop-amps open-loop gain, may be that the output of the amplifier goesinto saturation as shown below. (Saturation occurs when the outputvoltage of the amplifier swings heavily to one voltage supply rail orthe other with little or no control in between). The rate at which theoutput voltage increases (the rate of change) may be determined by thevalue of the resistor and the capacitor, “RC time constant”. By changingthis RC time constant value, either by changing the value of theCapacitor, C or the Resistor, R, the time in which it takes the outputvoltage to reach saturation can also be changed for example.

With continued reference to FIG. 1 , energy datum 132 may include atleast an element of data representative of one or more characteristicsof at least a portion of plurality of energy storage elements 108. Forexample, and without limitation, a portion of the plurality of energystorage elements 108 may have been commanded by modulator unit 120 todischarge energy, at least a sensor 128 may then detect energy datum 132as a function of that discharging associated with the portion ofplurality of energy storage elements 132. Energy datum 132 may include acharge datum. For the purposes of this disclosure, a “charge datum” isone or more elements of data related to at least a portion of pluralityof energy storage element's 108 state of charge (SoC). For the purposesof this disclosure, “state of charge” is the level of charge of anelectric battery relative to its capacity. The units of SoC may bepercentage points (0%=empty; 100%=full). An alternative form of the samemeasure is the depth of discharge (DoD), the inverse of SoC (100%=empty;0%=full). SoC is normally used when discussing the current state of abattery in use, while DoD is may be often seen when discussing thelifetime of the battery after repeated use. Charge datum may be one ormore elements of data related to the charge of a battery configured foruse in an electric aircraft. In an EVTOL, for example, SoC for theplurality of energy storage elements 108 may be the equivalent of a fuelgauge in a gasoline powered vehicle. Charge datum may be calculated,adjusted, searched for in a table, retrieved from a database based onone or more detected parameters, or directly detected, among others. Inembodiments, the charge datum may be compared to a calculated chargedatum. For the purposes of this disclosure, a “calculated charge datum”is one or more elements of data representing the predicted state ofcharge of at least a portion of an energy storage device, calculated bya computing device as a function of time.

With continued reference to FIG. 1 , energy datum 132 may include ahealth datum. Processor may be configured to generate health datum as afunction of status datum corresponding to the at least a portion ofplurality of energy storage elements 108. For the purposes of thisdisclosure, a “health datum” includes one or more elements of datarelated to the state of health (SoH) of plurality of energy storageelements 108. For the purposes of this disclosure, “state of health” isa figure of merit of the condition of a battery (or a cell, or a batterypack), compared to its ideal conditions. The units of SoH are percentpoints (100%=the battery's conditions match the battery'sspecifications). Typically, a battery's SoH will be 100% at the time ofmanufacture and will decrease over time and use. However, a battery'sperformance at the time of manufacture may not meet its specifications,in which case its initial SoH will be less than 100%. In exemplaryembodiments, one or more elements of system 100 including but notlimited to processor 120 may evaluate state of health of the portion ofbattery corresponding to health datum. Health datum may be compared to athreshold health datum corresponding to the parameter detected togenerate said health datum. Health datum may be utilized to determine,by processor, the suitability of plurality of energy storage elements108 to a given application, such as aircraft flight envelope, mission,cargo capacity, speed, maneuvers, or the like.

With continued reference to FIG. 1 , health datum may include a usefullife estimate corresponding to plurality of energy storage elements 108.For the purposes of this disclosure, a “useful life estimate” is one ormore elements of data indicating a remaining usability of one or moreelements of an energy storage device, wherein the usability is afunction of whether or not the one or more energy storage elements maybe used in performing their designed functions. Useful life estimate mayinclude one or more elements of data related to the remaining use ofplurality of energy storage elements 108. Useful life estimate mayinclude a time limit, usage limit, amperage per time parameter, electricparameter, internal resistance, impedance, conductance, capacity,voltage, self-discharge, ability to accept a charge, number ofcharge-discharge cycles, age of battery, temperature of battery duringprevious uses, current or future temperature limitations, total energycharged, total energy discharge, or predictions of failurescorresponding to plurality of energy storage elements 108. Processor maybe configured to select a datum of a plurality of data and utilize thedatum to determine charge datum and health datum. Processor may selectdata collected from one or more sensors described in this disclosure orone or more elements of data input to a system from which processor mayretrieve. Processor may be communicatively connected to one or moredatabases, datastores, lists, matrices, and/or groups that represent andorganize data associated with plurality of energy storage elements 108.Processor is configured to transmit the charge datum and health datum toone or more other elements included by system 100 configured to receiveone or more elements of data.

With continued reference to FIG. 1 , system 100 may include energy datum132, wherein energy datum 132 may include a performance characteristic.For the purposes of this disclosure, a “performance characteristic” isat least an element of data representative of performance related to atleast a portion of an electric aircraft and/or subsystem thereof. Forexample, and without limitation, performance characteristic may includea measure of efficiency of one or more of plurality of propulsors 104,plurality of energy storage elements 108, any one or more of thecomponents thereof, or another subsystem of electric aircraft.Performance characteristic may include a measure of temperature of oneor more components described in this disclosure. Performancecharacteristic may include a measure of conductivity, impedance,resistivity, capacitance, current, voltage, or another electricalcharacteristic of plurality of energy storage elements 108. Performancecharacteristic may include a measure of a predicted value compared to ameasured value.

With continued reference to FIG. 1 , system 100 may include energy datum132 which may be utilized to generate at least a performance datum. Forthe purposes of this disclosure, “performance datum” is at least anelement of data representative of the performance of at least a portionof plurality of energy storage elements generated as a function of atleast a measured value. For example, and without limitation, performancedatum may include a measured level of charge of at least a portion ofplurality of energy storage elements 108 compared to a calculated orpredicted level of charge. In general, and without limitation, predictedvalues related to the herein disclosed system may be generated by one ormore computing devices, one or more processors, input by a user, inputby a pilot, generated as a function of one or more previous flights oroperations, or a combination thereof. For example, and withoutlimitation, performance datum may include a measured state of health ofat least a portion of plurality of energy storage elements 108 comparedto a calculated or predicted state of health. In general, and withoutlimitation, predicted values related to the herein disclosed system maybe generated by one or more computing devices, one or more processors,input by a user, input by a pilot, generated as a function of one ormore previous flights or operations, or a combination thereof.Performance datum may include configurable elements of data input by auser or a pilot. For example, and without limitation, performance datummay be set before a mission, wherein a pilot or user desires to generateperformance datum including total current flowed out of a plurality ofenergy storage elements 108. One of ordinary skill in the art wouldappreciate, after reviewing the entirety of this disclosure, the nearlimitless configurations of data that may be generated as a function ofenergy datum 132.

With continued reference to FIG. 1 , energy datum 132 may be displayedto one or more pilots and or users by display 136. For the purposes ofthis disclosure, “display” is a device configured to present informationto one or more users or computing devices in a perceivable format.Display 136, in nonlimiting embodiments may include audio, visual,tactile, olfactory, or other cues in order to notify a user or computingdevice of information. In non-limiting examples, display 136 may includea primary flight display (PFD), multi-function display (MFD), heads-updisplay (HUD), holograph, projection, gauges, audio cues, video cues,data streams, displayed in a pilot's goggles or helmet, and the like.The details of the display layout on a primary flight display can varyenormously, depending on the aircraft, the aircraft's manufacturer, thespecific model of PFD, certain settings chosen by the pilot, and variousinternal options that are selected by the aircraft's owner (i.e., anairline, in the case of a large airliner). However, the great majorityof PFDs follow a similar layout convention. The center of the PFDusually contains an attitude indicator (AI), which gives the pilotinformation about the aircraft's pitch and roll characteristics, and theorientation of the aircraft with respect to the horizon. Unlike atraditional attitude indicator, however, the mechanical gyroscope is notcontained within the panel itself but is rather a separate device whoseinformation is simply displayed on the PFD. Attitude indicator isdesigned to look very much like traditional mechanical AIs. Otherinformation that may or may not appear on or about the attitudeindicator can include the stall angle, a runway diagram, ILS localizerand glide-path “needles”, and so on. Unlike mechanical instruments, thisinformation can be dynamically updated as required; the stall angle, forexample, can be adjusted in real time to reflect the calculated criticalangle of attack of the aircraft in its current configuration (airspeed,etc.). The PFD may also show an indicator of the aircraft's future path(over the next few seconds), as calculated by onboard computers, makingit easier for pilots to anticipate aircraft movements and reactions. Tothe left and right of the attitude indicator are usually the airspeedand altitude indicators, respectively. Airspeed indicator displays thespeed of the aircraft in knots, while the altitude indicator displaysthe aircraft's altitude above mean sea level (AMSL). These measurementsare conducted through the aircraft's pitot system, which tracks airpressure measurements. As in the PFD's attitude indicator, these systemsare merely displayed data from the underlying mechanical systems, and donot contain any mechanical parts (unlike an aircraft's airspeedindicator and altimeter). Both of these indicators are usually presentedas vertical “tapes”, which scroll up and down as altitude and airspeedchange. Both indicators may often have “bugs”, that is, indicators thatshow various important speeds and altitudes, such as V speeds calculatedby a flight management system, do-not-exceed speeds for the currentconfiguration, stall speeds, selected altitudes and airspeeds for theautopilot, and so on. At the bottom of the PFD is the heading display,which shows the pilot the magnetic heading of the aircraft. Thisfunctions much like a standard magnetic heading indicator, turning asrequired. Often this part of the display shows not only the currentheading, but also the current track (actual path over the ground), rateof turn, current heading setting on the autopilot, and other indicators.Other information displayed on the PFD includes navigational markerinformation, bugs (to control the autopilot), ILS glideslope indicators,course deviation indicators, altitude indicator QFE settings, and muchmore. Although the layout of a PFD can be very complex, once a pilot isaccustomed to it the PFD can provide an enormous amount of informationwith a single glance. Any of the herein described PFD layouts orcomponents may display, in whole or in part, energy datum 132,performance datum, performance characteristic, charge datum, and healthdatum.

With continued reference to FIG. 1 , display 136 may include amulti-function display (MFD). An MFD may be a small-screen surrounded byconfigurable buttons that can be used to display information to the userin numerous configurable ways. An MFD may be configured to display anyone or more elements of data energy datum 132, performance datum,performance characteristic, charge datum, health datum, or a combinationthereof, among others. Display 136 may be configured to display usefullife estimate corresponding to plurality of energy storage elements 108.

Still referring to FIG. 1 , system 100 may include a first propulsorelement 140 and a second propulsor element 144. A “propulsor element,”as used in this disclosure, is an electronic circuit and/or circuitelement powering a propulsor. A propulsor element may include, withoutlimitation, a propulsor motor, a winding in a propulsor motor, such asone of a plurality of stator windings, an inverter, an electromagneticelement, or the like. First propulsor element 140 and second propulsorelement 144 may be and/or be incorporated in separate motors, and/or maybe elements powering the same propulsor; for instance, first propulsorelement 140 and second propulsor element 144 may be and/or be connectedto two windings on a single propulsor motor. First propulsor element 140and second propulsor element 144 are incorporated in the plurality ofpropulsors. In an embodiment, first energy storage unit is electricallyconnected to first propulsor element 140 and second energy storageelement is electrically connected to a second propulsor element.Modulator unit 120 is configured to modulate a first electrical commandto the first propulsor element and a second electrical command to thesecond propulsor element.

Referring now to FIG. 2 , a method 200 for dynamic excitation of anenergy storage element configured for use in electric aircraft includes,at 205, disconnecting, by a cross tie element connected to a buselement, a first energy storage element electrically connected to thebus element from a second energy storage element electrically connectedto the bus element. Cross tie element may be consistent with any crosstie element as described in this disclosure. Cross tie element mayinclude a switch. Switch may be consistent with any switch as describedin this disclosure. The first energy storage element and the secondenergy storage element may be consistent with any energy storage elementas described in this disclosure. At least a portion of the energystorage element may be disconnected from the plurality of the energystorage element by disconnection of the cross tie element. Bus elementmay be consistent with any bus element as described in this disclosure.The plurality of energy storage element may include a battery module orplurality thereof. Battery module may be consistent with any batterymodule described in this disclosure.

Still referring to FIG. 200 , at 210, includes modulating, by amodulator unit, a first electrical command to the first energy storageelement and a second electrical command to the second energy storageelement. Modulator unit may be consistent with any modulator unit asdescribed in this disclosure. First and second electrical commands maybe consistent with any electrical command as described in thisdisclosure. First and second energy storage element may be consistentwith any energy storage element as described in this disclosure.Plurality of energy storage elements may be consistent with anyplurality of energy storage elements as described in this disclosure.Modulator unit may include a processor. Processor may be consistent withany processor as described in this disclosure. Modulating electricalcommand between at least a portion of the plurality of energy storageelements may include drawing electrical energy from at least a portionof the plurality of energy storage elements. Electrical energy may beconsistent with any electrical energy as described in this disclosure.Modulator may be configured to transmit a command to a propulsor elementto modify the power consumed by and/or output through the propulsorelement, for instance and without limitation as described above.

Still referring to FIG. 200 , at step 215 at least a sensor detects anenergy datum corresponding to the first energy storage element as afunction of the modulation. At least a sensor may be consistent with anyat least a sensor as described in this disclosure. Energy datum may beconsistent with any energy datum as described in this disclosure. Firstenergy storage element may be consistent with any energy storage elementas described in this disclosure. Plurality of energy storage elementsmay be consistent with any plurality of energy storage elements asdescribed in this disclosure. Energy datum may include a charge levelcorresponding to the plurality of energy storage elements. Charge levelmay be consistent with any charge level as described in this disclosure.Energy datum may include a performance characteristic of the pluralityof energy storage elements. Performance characteristic of the pluralityof energy storage elements may be consistent with any performancecharacteristic as described in this disclosure. Energy datum may beutilized to generate at least a performance datum. Performance datum maybe consistent with any performance datum as described in thisdisclosure. Energy datum may be displayed to a pilot. Displaying to apilot may include any display as described in this disclosure. Displaymay be consistent with any display as described in this disclosure.

Referring now to FIG. 3A, a schematic diagram of an exemplary embodimentof system 300 is presented. System 300 includes first energy storageelement 304. First energy storage element 304 may be consistent with anyenergy storage element as described in this disclosure. For example, andwithout limitation, first energy storage element 304 may include aplurality of battery packs, battery modules, battery cells, or othertypes of energy storage elements electrically connected together inseries and/or parallel. One of ordinary skill in the art wouldappreciate that there are two energy storage elements illustrated inFIG. 3A, however, any number of energy storage elements may be includedin system and operate according to the herein described methodology.

With continued reference to FIG. 3A, exemplary embodiment of system 300may include bus element 308. Bus element 308 may be consistent with anybus element as described in this disclosure. Bus element 308 may includeany manner of conductive material configured to convey electrical energyin any form as described in this disclosure between components. Forexample, and without limitation, bus element 308 may include any numberof components electrically connected thereto, including circuitelements, energy storage elements, propulsors, flight controlcomponents, one or more computing devices, sensors, or combinationthereof, among others. Bus element 308 may include a plurality of wiresand/or conductive strips, bars, structures, or a combination thereof.Bus element 308 may be configured to convey electrical energy configuredto power one or more other components electrically connected theretoand/or be configured to convey electrical energy configured to transmitsignals between one or more components.

With continued reference to FIG. 3A, exemplary embodiment of system 300may include a cross tie element 312. Cross tie element 312 may beconsistent with any cross tie element as described in this disclosure.Cross tie element 312 may include any electrical switches, relays,components, or combinations thereof. Cross tie element 312 may beelectrically connected to bus element 308 and through said bus element308 may be electrically and communicatively connected to any one or morecomponents as described in this disclosure, namely any of the pluralityof energy storage elements such as first energy storage element 304.Cross tie element 312 may be configured to receive one or moreelectrical signals configured to open or close cross tie element 312.Cross tie element 312, through said opening and closing may electricallydisconnect or connect, respectively, first energy storage element fromsecond energy storage element or plurality of energy storage elements asdescribed in this disclosure.

With continued reference to FIG. 3A, exemplary embodiment of system 300may include a propulsor 316. Propulsor 316 may be electrically andcommunicatively connected to any of the plurality of other components asdescribed in this disclosure through bus element 308. Propulsor 316 maybe one of a plurality of propulsors as described in this disclosure. Forexample, and without limitation, propulsor 316 may include an electricmotor, an actuator consistent with any actuator as described in thisdisclosure, one or more computing devices, or any other propulsorconfigured to manipulate a fluid medium.

Referring now to FIG. 3B, a schematic diagram of another exemplaryembodiment of system 300 is presented in schematic form. System 300 mayinclude a first energy storage element 304. First energy storage element304 may be consistent with any energy storage element as described inthis disclosure. For example, and without limitation, first energystorage element 304 may include a plurality of battery packs, batterymodules, battery cells, or other types of energy storage elementselectrically connected together in series and/or parallel. One ofordinary skill in the art would appreciate that there are five energystorage elements illustrated in FIG. 3A, however, any number of energystorage elements may be included in system and operate according to theherein described methodology. For example, and without limitation, firstenergy storage element 304 and any of the plurality of energy storageelements illustrated or described may include portions of larger energystorage elements such as five battery modules housed within one batterypack. For example, and without limitation, first energy storage element304 may include more than one battery modules housed within one batterypack, a second energy storage element may include a single batterymodule housed within the same battery pack, and a third energy storageelement may include an entire battery pack. One of ordinary skill in theart will appreciate the vast arrangements of energy storage elements andthe respective capacities thereof.

With continued reference to FIG. 3B, exemplary embodiment of system 300may include a bus element 308. Bus element 308 may be consistent withany bus element as described in this disclosure. Bus element 308 may beany manner of conductive material configured to convey electrical energyin any form as described in this disclosure between components. Forexample, and without limitation, bus element 308 may include any numberof components electrically connected thereto, including circuitelements, energy storage elements, propulsors, flight controlcomponents, one or more computing devices, sensors, or combinationthereof, among others. Bus element 308 may include a plurality of wiresor conductive strips, bars, structures, or a combination thereof. Buselement 308 may be configured to convey electrical energy configured topower one or more other components electrically connected thereto and/orbe configured to convey electrical energy configured to transmit signalsbetween one or more components.

With continued reference to FIG. 3B, exemplary embodiment of system 300may include a cross tie element 312. Cross tie element 312 may beconsistent with any cross tie element as described in this disclosure.Cross tie element 312 may include any electrical switches, relays,components, or combinations thereof. Cross tie element 312 may beelectrically connected to bus element 308 and through said bus element308 may be electrically and communicatively connected to any one or morecomponents as described in this disclosure, namely any of the pluralityof energy storage elements such as first energy storage element 304.Cross tie element 312 may be configured to receive one or moreelectrical signals configured to open or close cross tie element 312.Cross tie element 312, through said opening and closing may electricallydisconnect or connect, respectively, first energy storage element fromsecond energy storage element or plurality of energy storage elements asdescribed in this disclosure.

With continued reference to FIG. 3B, exemplary embodiment of system 300may include a propulsor 316. Propulsor 316 may be electrically andcommunicatively connected to any of the plurality of other components asdescribed in this disclosure through bus element 308. Propulsor 316 maybe one of a plurality of propulsors as described in this disclosure. Forexample, and without limitation, propulsor 316 may include an electricmotor, an actuator consistent with any actuator as described in thisdisclosure, one or more computing devices, or any other propulsorconfigured to manipulate a fluid medium.

With continued reference to FIG. 3B, exemplary embodiment of system 300may include a fuse 320. Fuse 320 may be consistent with any fuse asdescribed in this disclosure. In general, and for the purposes of thisdisclosure, a fuse is an electrical safety device that operate toprovide overcurrent protection of an electrical circuit. As asacrificial device, its essential component may be metal wire or stripthat melts when too much current flows through it, thereby interruptingenergy flow. Fuse 320 may include a thermal fuse, mechanical fuse, bladefuse, expulsion fuse, spark gap surge arrestor, varistor, or acombination thereof. Fuse 320 may be implemented in any number ofarrangements and at any point or points within exemplary embodiment ofsystem 300. Fuse 320 may be included between plurality of energy storageelements, propulsors, cross tie elements, or any other componentelectrically connected to bus element 308. Fuse 320 may be implementedbetween any other electrical components connected anywhere or in anysystem comprised by the herein disclosed embodiments.

Referring now to FIG. 3C, exemplary embodiments of graphs representingpower capability vs. depth of charge is presented. There are twodistinct graphical representations of the values discussed herein.Referring specifically to graph 324, the y-axis is Power Capabilitymeasured in Watts (W) and the x-axis is Depth of Discharge. Graph 324represents two energy storage elements as represented by the two curvesin the field of the graph. One of ordinary skill in the art wouldappreciate that the two curves represent two energy storage elementsdischarge uniformly. For the purposes of this disclosure, “uniformdischarge” is the flow of energy out of an energy storage element at thesame rate measured in one or more electrical parameters such as currentor voltage, among others. The vertical line represents a certain depthof discharge and the intersection with the curves shows the relativepower capability of the two energy storage elements. It may be readilyseen from graph 324 that the power capability of the two energy storageelements may not be equal at the same depth of discharge. For thepurposes of this disclosure, “depth of discharge” is the amount ofenergy depleted from an energy storage element. For example, a greaterdepth of discharge leaves less energy remaining in the energy storageelement than a lesser depth of discharge. The energy storage element maybe consistent with any energy storage element as described in thisdisclosure.

With continued reference to FIG. 3C, graph 328 is presented representingtwo curves measuring Power Capability (W) versus Depth of Discharge. Asone of ordinary skill in the art would appreciate, the two curves in thefield of graph 328 represented biased, or uneven discharge of two energystorage elements. The biased discharge may be biased as a function ofmodulation of one or more electrical commands as described in thisdisclosure. When biased discharging is utilized, two different depth ofcharges of the two energy storage elements renders the same powercapability of the two energy storage elements. That is to say thatalthough one energy storage element undergoes a greater depth ofdischarge, the same power capability may be seen from the two energystorage elements. Biased discharge may be a function of pilot commands,one or more computing devices, elements of data generated by any of thesystems and methods as described in this disclosure, machine-learningprocesses, optimization processes, emergency procedures, a combinationthereof, or the like.

Referring now to FIG. 4A, exemplary embodiment of system 400 isrepresented in schematic form. System 400 may include a first energystorage element 404. First energy storage element 404 may be consistentwith any energy storage element as described in this disclosure. Forexample, and without limitation, first energy storage element 404 mayinclude a plurality of battery packs, battery modules, battery cells, orother types of energy storage elements electrically connected togetherin series and/or parallel. One of ordinary skill in the art wouldappreciate that there are five energy storage elements illustrated inFIG. 4A, however, any number of energy storage elements may be includedin system and operate according to the herein described methodology. Forexample, and without limitation, first energy storage element 404 andany of the plurality of energy storage elements illustrated or describedmay include portions of larger energy storage elements such as fivebattery modules housed within one battery pack. For example, and withoutlimitation, first energy storage element 404 may include more than onebattery modules housed within one battery pack, a second energy storageelement may include a single battery module housed within the samebattery pack, and a third energy storage element may include an entirebattery pack. One of ordinary skill in the art will appreciate the vastarrangements of energy storage elements and the respective capacitiesthereof.

With continued reference to FIG. 4A, exemplary embodiment of system 400may include a bus element 408. Bus element 408 may be consistent withany bus element as described in this disclosure. Bus element 408 may beany manner of conductive material configured to convey electrical energyin any form as described in this disclosure between components. Forexample, and without limitation, bus element 408 may include any numberof components electrically connected thereto, including circuitelements, energy storage elements, propulsors, flight controlcomponents, one or more computing devices, sensors, or combinationthereof, among others. Bus element 308 may include a plurality of wiresor conductive strips, bars, structures, or a combination thereof. Buselement 308 may be configured to convey electrical energy configured topower one or more other components electrically connected thereto and/orbe configured to convey electrical energy configured to transmit signalsbetween one or more components.

With continued reference to FIG. 4A, exemplary embodiment of system may400 include a cross tie element 412. Cross tie element 412 may beconsistent with any cross tie element as described in this disclosure.Cross tie element 412 may include any electrical switches, relays,components, or combinations thereof. Cross tie element 412 may beelectrically connected to bus element 408 and through said bus element408 may be electrically and communicatively connected to any one or morecomponents as described in this disclosure, namely any of the pluralityof energy storage elements such as first energy storage element 404.Cross tie element 412 may be configured to receive one or moreelectrical signals configured to open or close cross tie element 412.Cross tie element 412, through said opening and closing may electricallydisconnect or connect, respectively, first energy storage element fromsecond energy storage element or plurality of energy storage elements asdescribed in this disclosure.

With continued reference to FIG. 4A, exemplary embodiment of system 400may include a propulsor 416. Propulsor 416 may be electrically andcommunicatively connected to any of the plurality of other components asdescribed in this disclosure through bus element 408. Propulsor 416 maybe one of a plurality of propulsors as described in this disclosure. Forexample, and without limitation, propulsor 316 may include an electricmotor, an actuator consistent with any actuator as described in thisdisclosure, one or more computing devices, or any other propulsorconfigured to manipulate a fluid medium.

With continued reference to FIG. 4A, exemplary embodiment of system 400may include a fuse 420. Fuse 420 may be consistent with any fuse asdescribed in this disclosure. In general, and for the purposes of thisdisclosure, a fuse is an electrical safety device that operate toprovide overcurrent protection of an electrical circuit. As asacrificial device, its essential component may be metal wire or stripthat melts when too much current flows through it, thereby interruptingenergy flow. Fuse 420 may include a thermal fuse, mechanical fuse, bladefuse, expulsion fuse, spark gap surge arrestor, varistor, or acombination thereof. Fuse 420 may be implemented in any number ofarrangements and at any point or points within exemplary embodiment ofsystem 400. Fuse 420 may be included between plurality of energy storageelements, propulsors, cross tie elements, or any other componentelectrically connected to bus element 408. Fuse 420 may be implementedbetween any other electrical components connected anywhere or in anysystem comprised by the herein disclosed embodiments.

Referring now to FIG. 4B, graph 424 is presented representing MissionPower Demand on the y-axis and Time into Mission on the x-axis. Thereare three curves shown in the field of graph 424. The closed cross tiecurve 428 represents the power demanded by the plurality of propulsorsfrom the plurality of energy storage elements during various phases offlight (e.g. the mission) including take-off, climb, cruise, descent,and landing. One of ordinary skill in the art would appreciate thatgraph 424 represents conventional take-off and landing electricvehicles, such as the aircraft described herein below in one of its dualmodes. First open cross tie curve 432 and second open cross tie curve436 represent the power demanded by the plurality of propulsors from afirst and second portion of energy storage elements, respectively, overvarious phases of flight (e.g. the mission). First open cross tie curve432 demands less power in all phases of flight than closed cross tiecurve 428. One of ordinary skill in the art would appreciate thatmodulating the command for discharge of the first and second energystorage elements (as shown by the repeating pattern in the “cruise”section of graph 424 consistent with the description herein produces avarying and opposite power demand in first open cross tie curve 432 andsecond open cross tie curve 436. In other words, modulating the demandfor power of a first energy storage element produces an opposite demandin a second energy storage element.

With continued reference to FIG. 4B, graph 424 may include a powerdemand for each propulsor of the plurality of propulsors as described inthis disclosure. a power demand of each propulsor of a plurality ofpropulsors may be calculated for at least a future phase of flight.Power demand may be calculated using one or more of various factors,including without limitation manufacture supplied data for propulsor,engine and/or motor. In an embodiment, factors used to calculate thepower demand calculation may use weight and/or payload of aircraft inaddition to manufacturing data. Power demand, as a non-limiting example,may be a function of such elements as a required speed of the propulsorfor any phase of flight, weight or payload, altitude, temperature,weather, environmental conditions, and/or size, type and or shape of apropeller blade, rotor blade, and/or other propulsor blade. Power demandmay alternatively or additionally, without limitation, be a function ofa type, size and age of one or more motors driving or incorporated inplurality of propulsors. As a non-limiting example, power demand may becalculated for a portion of the flight and/or the entire phase of aflight, flight plan, or mission. As another example and withoutlimitation, power demand of at least a propulsor of a plurality ofpropulsors, at a point of time or for the remaining time of theparticular phase of flight may be calculated. As another example andwithout limitation, power demand may be calculated for each individualpropulsor during a phase of flight or for the entire flight plan. Asanother example and without limitation, power demand may be calculatedfor the plurality of propulsors and divided by the number of propulsorsfor a phase of flight of the entire flight plan. As another example andwithout limitation, power demand for an individual propulsor or aplurality of propulsors may be done at any part of the flight or flightplan and may be done multiple times during flight or the mission.

Referring now to FIG. 5 , an exemplary embodiment of battery module 500is illustrated. In embodiments, each circle illustrated represents abattery cell's circular cross-section. A battery cell, which will beadequately described below may take a plurality of forms, but for thepurposes of these illustrations and disclosure, will be represented by acylinder, with circles in representing the cross section of one celleach. With this orientation, a cylindrical battery cell has a long axisnot visible in illustration. Battery cells are disposed in a staggeredarrangement, with one battery unit including two columns of staggeredcells. Each battery unit includes at least the cell retainer including asheet of material with holes in a staggered pattern corresponding to thestaggered orientation of cells. Cell retainer may be the component whichfixes the battery cells in their orientation amongst the entirety of thebattery module. Cell retainer also includes two columns of staggeredholes corresponding to the battery cells. Cell guide may be disposedbetween each set of two columns of the battery cells underneath the cellretainer. Battery module can include a protective wrapping which weavesin between the two columns of the battery cells contained in a batteryunit.

With continued reference to FIG. 5 , battery module 500 may include asense board, a side panel, an end cap, electrical bus, and openings arepresented. A sense board may include at least a portion of a circuitboard that includes one or more sensors configured to measure thetemperature of the battery cells disposed within battery module 500. Inembodiments, sensor board may include one or more openings disposed inrows and column on a surface of sense board. In embodiments, each holemay correspond to the battery cells disposed within, encapsulated, atleast in part, by battery units. For example, the location of each holemay correspond to the location of each battery cell disposed withinbattery module 500.

Referring still to FIG. 5 , according to embodiment, battery module 500can include one or more side panels. A side panel can include aprotective layer of material configured to create a barrier betweeninternal components of battery module 500 and other aircraft componentsor environment. A side panel may include opposite and opposing facesthat form a side of and encapsulate at least a portion of battery module500. A side panel may include metallic materials like aluminum, aluminumalloys, steel alloys, copper, tin, titanium, another undisclosedmaterial, or a combination thereof. A side panel may not preclude use ofnonmetallic materials alone or in combination with metallic componentspermanently or temporarily coupled together. Nonmetallic materials thatmay be used alone or in combination in the construction of a side panelmay include high density polyethylene (HDPE), polypropylene,polycarbonate, acrylonitrile butadiene styrene, polyethylene, nylon,polystyrene, polyether ether ketone, to name a few. A side panel may bemanufactured by a number of processes alone or in combination, includingbut limited to, machining, milling, forging, casting, 3D printing (orother additive manufacturing methods), turning, or injection molding, toname a few. One of ordinary skill in the art would appreciate that aside panel may be manufactured in pieces and assembled together byscrews, nails, rivets, dowels, pins, epoxy, glue, welding, crimping, oranother undisclosed method alone or in combination. A side panel may becoupled to sense board, the back plate, and/or an end cap throughstandard hardware like a bolt and nut mechanism, for example.

With continued reference to FIG. 5 , battery module 500 may also includeone or more end caps. An end cap may include a nonconductive componentconfigured to align the back plate, sense board, and internal batterycomponents of battery module 500 and hold their position. An end cap mayform and end of and encapsulate a portion of a first end of batterymodule 500 and a second opposite and opposing end cap may form a secondend and encapsulate a portion of a second end of battery module 500. Anend cap may include a snap attachment mechanism further including aprotruding boss which can configured to be captured, at least in part bya receptable of a corresponding size, by a receptacle disposed in or onthe back plate. An end cap may employ a similar or same method forcoupling itself to sense board, which may include a similar or the samereceptacle. One or ordinary skill in the art would appreciate that theembodiments of a quick attach/detach mechanism end cap may be only anexample and any number of mechanisms and methods may be used for thispurpose. It should also be noted that other mechanical connectingmechanisms may be used that are not necessarily designed for quickremoval. Said mechanical connecting may include, as a non-limitingexample, rigid coupling (e.g. beam coupling), bellows coupling, bushedpin coupling, constant velocity, split-muff coupling, diaphragmcoupling, disc coupling, donut coupling, elastic coupling, flexiblecoupling, fluid coupling, gear coupling, grid coupling, hirth joints,hydrodynamic coupling, jaw coupling, magnetic coupling, Oldham coupling,sleeve coupling, tapered shaft lock, twin spring coupling, rag jointcoupling, universal joints, or any combination thereof. An end cap mayinclude a nonconductive component manufactured from or by a process thatrenders it incapable or unsuitable for conveying electrical through, on,or over it. Nonconductive materials an end cap may include may be paper,Teflon, glass, rubber, fiberglass, porcelain, ceramic, quartz, variousplastics like HDPE, ABS, among others alone or in combination.

Still referring to FIG. 5 , an end cap may include an electrical bus. Anelectrical bus, for the purposes of this disclosure and in electricalparlance is any common connection to which any number of loads, whichmay be connected in parallel, and share a relatively similar voltage maybe electrically coupled. Electrical bus may refer to power busses, audiobusses, video busses, computing address busses, and/or data busses.Electrical bus may be responsible for conveying electrical energy storedin battery module 500 to at least a portion of an eVTOL aircraft. Thesame or a distinct electrical bus may additionally or alternativelyresponsible for conveying electrical signals generated by any number ofcomponents within battery module 500 to any destination on or offboardan eVTOL aircraft. An end cap may include wiring or conductive surfacesonly in portions required to electrically couple electrical bus toelectrical power or necessary circuits to convey that power or signalsto their destinations.

Still referring to FIG. 5 , and in embodiments, a battery module withmultiple battery units is illustrated, according to embodiments. Batterymodule 500 may include a battery cell, the cell retainer, a cell guide,a protective wrapping, a back plate, an end cap, and a side panel.Battery module 500 may include a plurality of the battery cells. Inembodiments, the battery cells may be disposed and/or arranged within arespective battery unit in groupings of any number of columns and rows.For example, in the illustrative embodiment of FIG. 5 , the batterycells are arranged in each respective battery unit with 18 cells in twocolumns. It should be noted that although the illustration may beinterpreted as containing rows and columns, that the groupings of thebattery cells in a battery unit, that the rows are only present as aconsequence of the repetitive nature of the pattern of staggered thebattery cells and battery cell holes in the cell retainer being alignedin a series. While in the illustrative embodiment of FIG. 5 the batterycells are arranged 18 to a battery unit with a plurality of batteryunits including battery module 500, one of skill in the art willunderstand that the battery cells may be arranged in any number to a rowand in any number of columns and further, any number of battery unitsmay be present in battery module 500. According to embodiments, thebattery cells within a first column may be disposed and/or arranged suchthat they are staggered relative to the battery cells within a secondcolumn. In this way, any two adjacent rows of the battery cells may notbe laterally adjacent but instead may be respectively offset apredetermined distance. In embodiments, any two adjacent rows of thebattery cells may be offset by a distance equal to a radius of a batterycell. This arrangement of the battery cells is only a non-limitingexample and in no way preclude other arrangement of the battery cells.

Battery module 500 may also include a protective wrapping woven betweenthe plurality of the battery cells. Protective wrapping may provide fireprotection, thermal containment, and thermal runaway during a batterycell malfunction or within normal operating limits of one or more thebattery cells and/or potentially, battery module 500 as a whole. Batterymodule 500 may also include a backplate. A backplate may be configuredto provide structure and encapsulate at least a portion of the batterycells, the cell retainers, the cell guides, and protective wraps. Endcap may be configured to encapsulate at least a portion of the batterycells, the cell retainers, the cell guides, and battery units, as willbe discussed further below, end cap may include a protruding boss thatclicks into receivers in both ends of the back plate, as well as asimilar boss on a second end that clicks into sense board. Side panelmay provide another structural element with two opposite and opposingfaces and further configured to encapsulate at least a portion of thebattery cells, the cell retainers, the cell guides, and battery units.

In embodiments, battery module 500 can include one or more the batterycells. In another embodiment, battery module 500 includes a plurality ofindividual the battery cells. Battery cells may each include a cellconfigured to include an electrochemical reaction that produceselectrical energy sufficient to power at least a portion of an eVTOLaircraft. Battery cell may include electrochemical cells, galvaniccells, electrolytic cells, fuel cells, flow cells, voltaic cells, or anycombination thereof—to name a few. In embodiments, the battery cells maybe electrically connected in series, in parallel, or a combination ofseries and parallel. Series connection, as used herein, includes wiringa first terminal of a first cell to a second terminal of a second celland further configured to include a single conductive path forelectricity to flow while maintaining the same current (measured inAmperes) through any component in the circuit. Battery cells may use theterm ‘wired’, but one of ordinary skill in the art would appreciate thatthis term is synonymous with ‘electrically connected’, and that thereare many ways to couple electrical elements like the battery cellstogether. As an example, the battery cells can be coupled viaprefabricated terminals of a first gender that mate with a secondterminal with a second gender. Parallel connection, as used herein,includes wiring a first and second terminal of a first battery cell to afirst and second terminal of a second battery cell and furtherconfigured to include more than one conductive path for electricity toflow while maintaining the same voltage (measured in Volts) across anycomponent in the circuit. Battery cells may be wired in aseries-parallel circuit which combines characteristics of theconstituent circuit types to this combination circuit. Battery cells maybe electrically connected in any arrangement which may confer onto thesystem the electrical advantages associated with that arrangement suchas high-voltage applications, high-current applications, or the like. Asused herein, an electrochemical cell may be a device capable ofgenerating electrical energy from chemical reactions or using electricalenergy to cause chemical reactions. Further, voltaic or galvanic cellsare electrochemical cells that generate electric current from chemicalreactions, while electrolytic cells generate chemical reactions viaelectrolysis. As used herein, the term ‘battery’ may be used as acollection of cells connected in series or parallel to each other. Cellretainer may employ a staggered arrangement to allow more cells to bedisposed closer together than in square columns and rows like in a gridpattern. The staggered arrangement may also be configured to allowbetter thermodynamic dissipation, the methods of which may be furtherdisclosed hereinbelow. Cell retainer may include staggered openings thatalign with the battery cells and further configured to hold the batterycells in fixed positions. Cell retainer may include an injection moldedcomponent. Injection molded component may include a componentmanufactured by injecting a liquid into a mold and letting it solidify,taking the shape of the mold in its hardened form. Cell retainer mayinclude liquid crystal polymer, polypropylene, polycarbonate,acrylonitrile butadiene styrene, polyethylene, nylon, polystyrene,polyether ether ketone, to name a few. Cell retainer may include asecond the cell retainer fixed to the second end of the battery cellsand configured to hold the battery cells in place from both ends. Secondcell retainer may include similar or the exact same characteristics andfunctions of first the cell retainer. Battery module 500 may alsoinclude the cell guide. In embodiments, cell guide can be configured todistribute heat that may be generated by the battery cells. According toembodiments, battery module 500 may also include the back plate. Backplate may be configured to provide a base structure for battery module500 and may encapsulate at least a portion thereof. Backplate can haveany shape and includes opposite, opposing sides with a thickness betweenthem. In embodiments, the back plate may include an effectively flat,rectangular prism shaped sheet. For example, the back plate can includeone side of a larger rectangular prism which characterizes the shape ofbattery module 500 as a whole. Back plate also includes openingscorrelating to each battery cell of the plurality of the battery cells.Back plate may include a lamination of multiple layers. The layers thatare laminated together may include FR-4, a glass-reinforced epoxylaminate material, and a thermal barrier of a similar or exact same typeas disclosed hereinabove. Back plate may be configured to providestructural support and containment of at least a portion of batterymodule 500 as well as provide fire and thermal protection. According toembodiments, battery module 500 may also include an end cap configuredto encapsulate at least a portion of battery module 500. End cap mayprovide structural support for battery module 500 and hold the backplate in a fixed relative position compared to the overall batterymodule 500. End cap may include a protruding boss on a first end thatmates up with and snaps into a receiving feature on a first end of theback plate. End cap may include a second protruding boss on a second endthat mates up with and snaps into a receiving feature on the senseboard. Battery module 500 may also include at least a side panel thatmay encapsulate two sides of battery module 500. Any side panel mayinclude opposite and opposing faces including a metal or compositematerial. Side panel(s) may provide structural support for batterymodule 500 and provide a barrier to separate battery module 500 fromexterior components within aircraft or environment.

With continued reference to FIG. 5 , any of the disclosed systems,namely battery module 500 or one or more battery packs may incorporateprovisions to dissipate heat energy present due to electrical resistancein integral circuit. Battery module 500 includes one or more batterymodules wired in series and/or parallel. The presence of a voltagedifference and associated amperage inevitably will increase heat energypresent in and around battery module 500 as a whole. The presence ofheat energy in a power system is potentially dangerous by introducingenergy possibly sufficient to damage mechanical, electrical, and/orother systems present in at least a portion of exemplary aircraft 700.Battery module 500 may include mechanical design elements, one ofordinary skill in the art, may thermodynamically dissipate heat energyaway from battery module 500. The mechanical design may include, but isnot limited to, slots, fins, heat sinks, perforations, a combinationthereof, or another undisclosed element.

With continued reference to FIG. 5 , heat dissipation may includematerial selection beneficial to move heat energy in a suitable mannerfor operation of battery module 500. Certain materials with specificatomic structures and therefore specific elemental or alloyed propertiesand characteristics may be selected in construction of battery module500 to transfer heat energy out of a vulnerable location or selected towithstand certain levels of heat energy output that may potentiallydamage an otherwise unprotected component. One of ordinary skill in theart, after reading the entirety of this disclosure would understand thatmaterial selection may include titanium, steel alloys, nickel, copper,nickel-copper alloys such as Monel, tantalum and tantalum alloys,tungsten and tungsten alloys such as Inconel, a combination thereof, oranother undisclosed material or combination thereof.

With continued reference to FIG. 5 , heat dissipation may include acombination of mechanical design and material selection. Theresponsibility of heat dissipation may fall upon the material selectionand design as disclosed above in regard to any component disclosed inthis paper. Battery module 500 may include similar or identical featuresand materials ascribed to battery module 500 in order to manage the heatenergy produced by these systems and components.

With continued reference to FIG. 5 , according to embodiments, thecircuitry battery module 500 may include, as discussed above, may beshielded from electromagnetic interference. The battery pack, batterymodules, and/or battery elements and associated circuitry may beshielded by material such as mylar, aluminum, copper a combinationthereof, or another suitable material. Battery module 500 and associatedcircuitry may include one or more of the aforementioned materials intheir inherent construction or additionally added after manufacture forthe express purpose of shielding a vulnerable component. Battery module500 and associated circuitry may alternatively or additionally beshielded by location. Electrochemical interference shielding by locationincludes a design configured to separate a potentially vulnerablecomponent from energy that may compromise the function of saidcomponent. The location of vulnerable component may be a physicaluninterrupted distance away from an interfering energy source, orlocation configured to include a shielding element between energy sourceand target component. The shielding may include an aforementionedmaterial in this section, a mechanical design configured to dissipatethe interfering energy, and/or a combination thereof. The shieldingincluding material, location and additional shielding elements maydefend a vulnerable component from one or more types of energy at asingle time and instance or include separate shielding for individualpotentially interfering energies.

With continued reference to FIG. 5 , battery module 500 may be a portionof a battery pack, the battery pack may be a power source configured tostore electrical energy in the form of a plurality of battery modules,which themselves are included of a plurality of electrochemical cells.These cells may utilize electrochemical cells, galvanic cells,electrolytic cells, fuel cells, flow cells, and/or voltaic cells. Ingeneral, an electrochemical cell is a device capable of generatingelectrical energy from chemical reactions or using electrical energy tocause chemical reactions, this disclosure will focus on the former.Voltaic or galvanic cells are electrochemical cells that generateelectric current from chemical reactions, while electrolytic cellsgenerate chemical reactions via electrolysis. In general, the term‘battery’ is used as a collection of cells connected in series orparallel to each other. A battery cell may, when used in conjunctionwith other cells, may be electrically connected in series, in parallelor a combination of series and parallel. Series connection includeswiring a first terminal of a first cell to a second terminal of a secondcell and further configured to include a single conductive path forelectricity to flow while maintaining the same current (measured inAmperes) through any component in the circuit. A battery cell may usethe term ‘wired’, but one of ordinary skill in the art would appreciatethat this term is synonymous with ‘electrically connected’, and thatthere are many ways to couple electrical elements like the battery cellstogether. An example of a connector that do not include wires may beprefabricated terminals of a first gender that mate with a secondterminal with a second gender. Battery cells may be wired in parallel.Parallel connection includes wiring a first and second terminal of afirst battery cell to a first and second terminal of a second batterycell and further configured to include more than one conductive path forelectricity to flow while maintaining the same voltage (measured inVolts) across any component in the circuit. Battery cells may be wiredin a series-parallel circuit which combines characteristics of theconstituent circuit types to this combination circuit. Battery cells maybe electrically connected in a virtually unlimited arrangement which mayconfer onto the system the electrical advantages associated with thatarrangement such as high-voltage applications, high-currentapplications, or the like. In an exemplary embodiment, the battery packinclude 196 battery cells in series and 18 battery cells in parallel.This is, as someone of ordinary skill in the art would appreciate, isonly an example and the battery pack may be configured to have a nearlimitless arrangement of battery cell configurations.

With continued reference to FIG. 5 , a battery pack may include aplurality of battery modules 500. Battery modules 500 may be wiredtogether in series and in parallel. Battery pack may include centersheet which may include a thin barrier. The barrier may include a fuseconnecting battery modules on either side of center sheet. The fuse maybe disposed in or on center sheet and configured to connect to anelectric circuit including a first battery module and therefore batteryunit and cells. In general, and for the purposes of this disclosure, afuse is an electrical safety device that operate to provide overcurrentprotection of an electrical circuit. As a sacrificial device, itsessential component may be metal wire or strip that melts when too muchcurrent flows through it, thereby interrupting energy flow. Fuse mayinclude a thermal fuse, mechanical fuse, blade fuse, expulsion fuse,spark gap surge arrestor, varistor, or a combination thereof. Batterypack may also include a side wall includes a laminate of a plurality oflayers configured to thermally insulate the plurality of battery modulesfrom external components of the battery pack. Side wall layers mayinclude materials which possess characteristics suitable for thermalinsulation as described in the entirety of this disclosure likefiberglass, air, iron fibers, polystyrene foam, and thin plastic films,to name a few. Side wall may additionally or alternatively electricallyinsulate the plurality of battery modules from external components ofthe battery pack and the layers of which may include polyvinyl chloride(PVC), glass, asbestos, rigid laminate, varnish, resin, paper, Teflon,rubber, and mechanical lamina. Center sheet may be mechanically coupledto side wall in any manner described in the entirety of this disclosureor otherwise undisclosed methods, alone or in combination. Side wall mayinclude a feature for alignment and coupling to center sheet. Thisfeature may include a cutout, slots, holes, bosses, ridges, channels,and/or other undisclosed mechanical features, alone or in combination.Battery pack may also include the end panel including a plurality ofelectrical connectors and further configured to fix the battery pack inalignment with at least a side wall. End panel may include a pluralityof electrical connectors of a first gender configured to electricallyand mechanically couple to electrical connectors of a second gender. Endpanel may be configured to convey electrical energy from the batterycells to at least a portion of an eVTOL aircraft. Electrical energy maybe configured to power at least a portion of an eVTOL aircraft orinclude signals to notify aircraft computers, personnel, users, pilots,and any others of information regarding battery health, emergencies,and/or electrical characteristics. The plurality of electricalconnectors may include blind mate connectors, plug and socketconnectors, screw terminals, ring and spade connectors, bladeconnectors, and/or an undisclosed type alone or in combination. Theelectrical connectors of which the end panel includes may be configuredfor power and communication purposes. A first end of the end panel maybe configured to mechanically couple to a first end of a first side wallby a snap attachment mechanism, similar to end cap and side panelconfiguration utilized in the battery module. To reiterate, a protrusiondisposed in or on the end panel may be captured, at least in part, by areceptacle disposed in or on side wall. A second end of the end panelmay be mechanically coupled to a second end of a second side wall in asimilar or the same mechanism.

Referring now to FIG. 6 , system 100, processor, or another computingdevice or model may utilize stored data to generate any datum asdescribed in this disclosure. Stored data may be past status datums,charge datums, health datums, or the like in an embodiment of thepresent invention. Stored data may be input by a user, pilot, supportpersonnel, or another. Stored data may include algorithms andmachine-learning processes that may generate one or more datumsassociated with the herein disclosed system including charge datums,health datums, and the like. The algorithms and machine-learningprocesses may be any algorithm or machine-learning processes asdescribed in this disclosure. Training data may be columns, matrices,rows, blocks, spreadsheets, books, or other suitable datastores orstructures that contain correlations between past status datums, healthdatums, or the like to useful life estimates. Training data may be anytraining data as described below. Training data may be past measurementsdetected by any sensors described herein or another sensor or suite ofsensors in combination. Training data may be detected by onboard oroffboard instrumentation designed to detect status datum orenvironmental conditions as described in this disclosure. Training datamay be uploaded, downloaded, and/or retrieved from a server prior toflight. Training data may be generated by a computing device that maysimulate input datums suitable for use by the processor, flightcontroller, controller, or other computing devices in an embodiment ofthe present invention. Processor, flight controller, controller, and/oranother computing device as described in this disclosure may train oneor more machine-learning models using the training data as described inthis disclosure. Training one or more machine-learning models consistentwith the training one or more machine learning modules as described inthis disclosure.

With continued reference to FIG. 6 , algorithms and machine-learningprocesses may include any algorithms or machine-learning processes asdescribed in this disclosure. Training data may be columns, matrices,rows, blocks, spreadsheets, books, or other suitable datastores orstructures that contain correlations between torque measurements toobstruction datums. Training data may be any training data as describedin this disclosure. Training data may be past measurements detected byany sensors described herein or another sensor or suite of sensors incombination. Training data may be detected by onboard or offboardinstrumentation designed to detect environmental conditions and measuredstate datums as described in this disclosure. Training data may beuploaded, downloaded, and/or retrieved from a server prior to flight.Training data may be generated by a computing device that may simulatepredictive datums, performance datums, or the like suitable for use bythe processor, flight controller, controller, plant model, in anembodiment of the present invention. Processor, flight controller,controller, and/or another computing device as described in thisdisclosure may train one or more machine-learning models using thetraining data as described in this disclosure.

Still referring to FIG. 6 , an exemplary embodiment of amachine-learning module 600 that may perform one or moremachine-learning processes as described in this disclosure may beillustrated. Machine-learning module may perform determinations,classification, and/or analysis steps, methods, processes, or the likeas described in this disclosure using machine learning processes. A“machine learning process,” as used in this disclosure, may be a processthat automatedly uses training data 604 to generate an algorithm thatwill be performed by a computing device/module to produce outputs 608given data provided as inputs 612; this may be in contrast to anon-machine learning software program where the commands to be executedare determined in advance by a user and written in a programminglanguage.

Still referring to FIG. 6 , “training data,” as used herein, may be datacontaining correlations that a machine-learning process may use to modelrelationships between two or more categories of data elements. Forinstance, and without limitation, training data 604 may include aplurality of data entries, each entry representing a set of dataelements that were recorded, received, and/or generated together; dataelements may be correlated by shared existence in a given data entry, byproximity in a given data entry, or the like. Multiple data entries intraining data 604 may evince one or more trends in correlations betweencategories of data elements; for instance, and without limitation, ahigher value of a first data element belonging to a first category ofdata element may tend to correlate to a higher value of a second dataelement belonging to a second category of data element, indicating apossible proportional or other mathematical relationship linking valuesbelonging to the two categories. Multiple categories of data elementsmay be related in training data 604 according to various correlations;correlations may indicate causative and/or predictive links betweencategories of data elements, which may be modeled as relationships suchas mathematical relationships by machine-learning processes as describedin further detail below. Training data 604 may be formatted and/ororganized by categories of data elements, for instance by associatingdata elements with one or more descriptors corresponding to categoriesof data elements. As a non-limiting example, training data 604 mayinclude data entered in standardized forms by persons or processes, suchthat entry of a given data element in a given field in a form may bemapped to one or more descriptors of categories. Elements in trainingdata 604 may be linked to descriptors of categories by tags, tokens, orother data elements; for instance, and without limitation, training data604 may be provided in fixed-length formats, formats linking positionsof data to categories such as comma-separated value (CSV) formats and/orself-describing formats such as extensible markup language (XML),JavaScript Object Notation (JSON), or the like, enabling processes ordevices to detect categories of data.

Alternatively, or additionally, and continuing to refer to FIG. 6 ,training data 604 may include one or more elements that are notcategorized; that may be, training data 604 may not be formatted orcontain descriptors for some elements of data. Machine-learningalgorithms and/or other processes may sort training data 604 accordingto one or more categorizations using, for instance, natural languageprocessing algorithms, tokenization, detection of correlated values inraw data and the like; categories may be generated using correlationand/or other processing algorithms. As a non-limiting example, in acorpus of text, phrases making up a number “n” of compound words, suchas nouns modified by other nouns, may be identified according to astatistically significant prevalence of n-grams containing such words ina particular order; such an n-gram may be categorized as an element oflanguage such as a “word” to be tracked similarly to single words,generating a new category as a result of statistical analysis.Similarly, in a data entry including some textual data, a person's namemay be identified by reference to a list, dictionary, or othercompendium of terms, permitting ad-hoc categorization bymachine-learning algorithms, and/or automated association of data in thedata entry with descriptors or into a given format. The ability tocategorize data entries automatedly may enable the same training data604 to be made applicable for two or more distinct machine-learningalgorithms as described in further detail below. Training data 604 usedby machine-learning module 600 may correlate any input data as describedin this disclosure to any output data as described in this disclosure.

Further referring to FIG. 6 , training data may be filtered, sorted,and/or selected using one or more supervised and/or unsupervisedmachine-learning processes and/or models as described in further detailbelow; such models may include without limitation a training dataclassifier 616. Training data classifier 616 may include a “classifier,”which as used in this disclosure may be a machine-learning model asdefined below, such as a mathematical model, neural net, or programgenerated by a machine learning algorithm known as a “classificationalgorithm,” as described in further detail below, that sorts inputs intocategories or bins of data, outputting the categories or bins of dataand/or labels associated therewith. A classifier may be configured tooutput at least a datum that labels or otherwise identifies a set ofdata that are clustered together, found to be close under a distancemetric as described below, or the like. Machine-learning module 600 maygenerate a classifier using a classification algorithm, defined as aprocesses whereby a computing device and/or any module and/or componentoperating thereon derives a classifier from training data 604.Classification may be performed using, without limitation, linearclassifiers such as without limitation logistic regression and/or naiveBayes classifiers, nearest neighbor classifiers such as k-nearestneighbors classifiers, support vector machines, least squares supportvector machines, fisher's linear discriminant, quadratic classifiers,decision trees, boosted trees, random forest classifiers, learningvector quantization, and/or neural network-based classifiers. As anon-limiting example, training data classifier 616 may classify elementsof training data to classes of deficiencies, wherein a nourishmentdeficiency may be categorized to a large deficiency, a mediumdeficiency, and/or a small deficiency.

Still referring to FIG. 6 , machine-learning module 600 may beconfigured to perform a lazy-learning process 620 and/or protocol, whichmay alternatively be referred to as a “lazy loading” or“call-when-needed” process and/or protocol, may be a process wherebymachine learning may be conducted upon receipt of an input to beconverted to an output, by combining the input and training set toderive the algorithm to be used to produce the output on demand. Forinstance, an initial set of simulations may be performed to cover aninitial heuristic and/or “first guess” at an output and/or relationship.As a non-limiting example, an initial heuristic may include a ranking ofassociations between inputs and elements of training data 604. Heuristicmay include selecting some number of highest-ranking associations and/ortraining data 604 elements. Lazy learning may implement any suitablelazy learning algorithm, including without limitation a K-nearestneighbors algorithm, a lazy naïve Bayes algorithm, or the like; personsskilled in the art, upon reviewing the entirety of this disclosure, willbe aware of various lazy-learning algorithms that may be applied togenerate outputs as described in this disclosure, including withoutlimitation lazy learning applications of machine-learning algorithms asdescribed in further detail below.

Alternatively or additionally, and with continued reference to FIG. 6 ,machine-learning processes as described in this disclosure may be usedto generate machine-learning models 624. A “machine-learning model,” asused in this disclosure, may be a mathematical and/or algorithmicrepresentation of a relationship between inputs and outputs, asgenerated using any machine-learning process including withoutlimitation any process as described above, and stored in memory; aninput is submitted to a machine-learning model 624 once created, whichgenerates an output based on the relationship that was derived. Forinstance, and without limitation, a linear regression model, generatedusing a linear regression algorithm, may compute a linear combination ofinput data using coefficients derived during machine-learning processesto calculate an output datum. As a further non-limiting example, amachine-learning model 624 may be generated by creating an artificialneural network, such as a convolutional neural network including aninput layer of nodes, one or more intermediate layers, and an outputlayer of nodes. Connections between nodes may be created via the processof “training” the network, in which elements from a training data 604set are applied to the input nodes, a suitable training algorithm (suchas Levenberg-Marquardt, conjugate gradient, simulated annealing, orother algorithms) is then used to adjust the connections and weightsbetween nodes in adjacent layers of the neural network to produce thedesired values at the output nodes. This process may be sometimesreferred to as deep learning.

Still referring to FIG. 6 , machine-learning algorithms may include atleast a supervised machine-learning process 628. At least a supervisedmachine-learning process 628, as defined herein, include algorithms thatreceive a training set relating a number of inputs to a number ofoutputs, and seek to find one or more mathematical relations relatinginputs to outputs, where each of the one or more mathematical relationsmay be optimal according to some criterion specified to the algorithmusing some scoring function. For instance, a supervised learningalgorithm may include status datum as described above as one or moreinputs, charge or health datum as an output, and a scoring functionrepresenting a desired form of relationship to be detected betweeninputs and outputs; scoring function may, for instance, seek to maximizethe probability that a given input and/or combination of elements inputsmay be associated with a given output to minimize the probability that agiven input may be not associated with a given output. Scoring functionmay be expressed as a risk function representing an “expected loss” ofan algorithm relating inputs to outputs, where loss is computed as anerror function representing a degree to which a prediction generated bythe relation may be incorrect when compared to a given input-output pairprovided in training data 604. Persons skilled in the art, uponreviewing the entirety of this disclosure, will be aware of variouspossible variations of at least a supervised machine-learning process628 that may be used to determine relation between inputs and outputs.Supervised machine-learning processes may include classificationalgorithms as defined above.

Further referring to FIG. 6 , machine learning processes may include atleast an unsupervised machine-learning processes 632. An unsupervisedmachine-learning process, as used herein, is a process that derivesinferences in datasets without regard to labels; as a result, anunsupervised machine-learning process may be free to discover anystructure, relationship, and/or correlation provided in the data.Unsupervised processes may not require a response variable; unsupervisedprocesses may be used to find interesting patterns and/or inferencesbetween variables, to determine a degree of correlation between two ormore variables, or the like.

Still referring to FIG. 6 , machine-learning module 600 may be designedand configured to create a machine-learning model 624 using techniquesfor development of linear regression models. Linear regression modelsmay include ordinary least squares regression, which aims to minimizethe square of the difference between predicted outcomes and actualoutcomes according to an appropriate norm for measuring such adifference (e.g. a vector-space distance norm); coefficients of theresulting linear equation may be modified to improve minimization.Linear regression models may include ridge regression methods, where thefunction to be minimized includes the least-squares function plus termmultiplying the square of each coefficient by a scalar amount topenalize large coefficients. Linear regression models may include leastabsolute shrinkage and selection operator (LASSO) models, in which ridgeregression may be combined with multiplying the least-squares term by afactor of 1 divided by double the number of samples. Linear regressionmodels may include a multi-task lasso model wherein the norm applied inthe least-squares term of the lasso model may be the Frobenius normamounting to the square root of the sum of squares of all terms. Linearregression models may include the elastic net model, a multi-taskelastic net model, a least angle regression model, a LARS lasso model,an orthogonal matching pursuit model, a Bayesian regression model, alogistic regression model, a stochastic gradient descent model, aperceptron model, a passive aggressive algorithm, a robustnessregression model, a Huber regression model, or any other suitable modelthat may occur to persons skilled in the art upon reviewing the entiretyof this disclosure. Linear regression models may be generalized in anembodiment to polynomial regression models, whereby a polynomialequation (e.g. a quadratic, cubic or higher-order equation) providing abest predicted output/actual output fit may be sought; similar methodsto those described above may be applied to minimize error functions, aswill be apparent to persons skilled in the art upon reviewing theentirety of this disclosure.

Continuing to refer to FIG. 6 , machine-learning algorithms may include,without limitation, linear discriminant analysis. Machine-learningalgorithm may include quadratic discriminate analysis. Machine-learningalgorithms may include kernel ridge regression. Machine-learningalgorithms may include support vector machines, including withoutlimitation support vector classification-based regression processes.Machine-learning algorithms may include stochastic gradient descentalgorithms, including classification and regression algorithms based onstochastic gradient descent. Machine-learning algorithms may includenearest neighbors algorithms. Machine-learning algorithms may includeGaussian processes such as Gaussian Process Regression. Machine-learningalgorithms may include cross-decomposition algorithms, including partialleast squares and/or canonical correlation analysis. Machine-learningalgorithms may include naïve Bayes methods. Machine-learning algorithmsmay include algorithms based on decision trees, such as decision treeclassification or regression algorithms. Machine-learning algorithms mayinclude ensemble methods such as bagging meta-estimator, forest ofrandomized tress, AdaBoost, gradient tree boosting, and/or votingclassifier methods. Machine-learning algorithms may include neural netalgorithms, including convolutional neural net processes.

With continued reference to FIG. 6 , an “objective function,” as used inthis disclosure, is a mathematical function with a solution setincluding a plurality of data elements to be compared. Mixer may computea score, metric, ranking, or the like, associated with each performanceprognoses and candidate transfer apparatus and select objectives tominimize and/or maximize the score/rank, depending on whether an optimalresult may be represented, respectively, by a minimal and/or maximalscore; an objective function may be used by mixer to score each possiblepairing. At least an optimization problem may be based on one or moreobjectives, as described below. Mixer may pair a candidate transferapparatus, with a given combination of performance prognoses, thatoptimizes the objective function. In various embodiments solving atleast an optimization problem may be based on a combination of one ormore factors. Each factor may be assigned a score based on predeterminedvariables. In some embodiments, the assigned scores may be weighted orunweighted. Solving at least an optimization problem may includeperforming a greedy algorithm process, where optimization may beperformed by minimizing and/or maximizing an output of objectivefunction. A “greedy algorithm” is defined as an algorithm that selectslocally optimal choices, which may or may not generate a globallyoptimal solution. For instance, mixer may select objectives so thatscores associated therewith are the best score for each goal. Forinstance, in non-limiting illustrative example, optimization maydetermine the pitch moment associated with an output of at least apropulsor based on an input.

With continued reference to FIG. 6 , at least an optimization problemmay be formulated as a linear objective function, which mixer mayoptimize using a linear program such as without limitation amixed-integer program. A “linear program,” as used in this disclosure,is a program that optimizes a linear objective function, given at leasta constraint; a linear program maybe referred to without limitation as a“linear optimization” process and/or algorithm. For instance, innon-limiting illustrative examples, a given constraint might be torquelimit, and a linear program may use a linear objective function tocalculate maximum output based on the limit. In various embodiments,mixer may determine a set of instructions towards achieving a user'sgoal that maximizes a total score subject to a constraint that there areother competing objectives. A mathematical solver may be implemented tosolve for the set of instructions that maximizes scores; mathematicalsolver may be implemented on mixer and/or another device in flightcontrol system, and/or may be implemented on third-party solver. Atleast an optimization problem may be formulated as nonlinear leastsquares optimization process. A “nonlinear least squares optimizationprocess,” for the purposes of this disclosure, is a form of leastsquares analysis used to fit a set of m observations with a model thatis non-linear in n unknown parameters, where m is greater than or equalto n. The basis of the method is to approximate the model by a linearone and to refine the parameters by successive iterations. A nonlinearleast squares optimization process may output a fit of signals to atleast a propulsor. Solving at least an optimization problem may includeminimizing a loss function, where a “loss function” is an expression anoutput of which a ranking process minimizes to generate an optimalresult. As a non-limiting example, mixer may assign variables relatingto a set of parameters, which may correspond to score components asdescribed above, calculate an output of mathematical expression usingthe variables, and select an objective that produces an output havingthe lowest size, according to a given definition of “size,” of the setof outputs representing each of plurality of candidate ingredientcombinations; size may, for instance, included absolute value, numericalsize, or the like. Selection of different loss functions may result inidentification of different potential pairings as generating minimaloutputs.

Referring now to FIG. 7 , an embodiment of an electric aircraft 700 ispresented. Still referring to FIG. 7 , electric aircraft 700 may includea vertical takeoff and landing aircraft (eVTOL). As used herein, avertical take-off and landing (eVTOL) aircraft may be one that canhover, take off, and land vertically. An eVTOL, as used herein, may bean electrically powered aircraft typically using an energy source, of aplurality of energy sources to power the aircraft. In order to optimizethe power and energy necessary to propel the aircraft. eVTOL may becapable of rotor-based cruising flight, rotor-based takeoff, rotor-basedlanding, fixed-wing cruising flight, airplane-style takeoff,airplane-style landing, and/or any combination thereof. Rotor-basedflight, as described in this disclosure, may be where the aircraftgenerated lift and propulsion by way of one or more powered rotorsconnected with an engine, such as a “quad copter,” multi-rotorhelicopter, or other vehicle that maintains its lift primarily usingdownward thrusting propulsors. Fixed-wing flight, as described in thisdisclosure, may be where the aircraft may be capable of flight usingwings and/or foils that generate life caused by the aircraft's forwardairspeed and the shape of the wings and/or foils, such as airplane-styleflight. Control forces of the aircraft are achieved by conventionalelevators, ailerons and rudders during fixed wing flight. Roll and Pitchcontrol forces on the aircraft are achieved during transition flight byincreasing and decreasing torque, and thus thrust on the four lift fans.Increasing torque on both left motors and decreasing torque on bothright motors leads to a right roll, for instance. Likewise, increasingthe torque on the front motors and decreasing the torque on the rearmotors leads to a nose up pitching moment. Clockwise andcounterclockwise turning motors torques are increased and decreased toachieve the opposite torque on the overall aircraft about the verticalaxis and achieve yaw maneuverability.

With continued reference to FIG. 7 , a number of aerodynamic forces mayact upon the electric aircraft 700 during flight. Forces acting on anelectric aircraft 700 during flight may include, without limitation,thrust, the forward force produced by the rotating element of theelectric aircraft 700 and acts parallel to the longitudinal axis.Another force acting upon electric aircraft 700 may be, withoutlimitation, drag, which may be defined as a rearward retarding forcewhich may be caused by disruption of airflow by any protruding surfaceof the electric aircraft 700 such as, without limitation, the wing,rotor, and fuselage. Drag may oppose thrust and acts rearward parallelto the relative wind. A further force acting upon electric aircraft 700may include, without limitation, weight, which may include a combinedload of the electric aircraft 700 itself, crew, baggage, and/or fuel.Weight may pull electric aircraft 700 downward due to the force ofgravity. An additional force acting on electric aircraft 700 mayinclude, without limitation, lift, which may act to oppose the downwardforce of weight and may be produced by the dynamic effect of air actingon the airfoil and/or downward thrust from the propulsor of the electricaircraft. Lift generated by the airfoil may depend on speed of airflow,density of air, total area of an airfoil and/or segment thereof, and/oran angle of attack between air and the airfoil. For example, and withoutlimitation, electric aircraft 700 are designed to be as lightweight aspossible. Reducing the weight of the aircraft and designing to reducethe number of components may be essential to optimize the weight. Tosave energy, it may be useful to reduce weight of components of anelectric aircraft 700, including without limitation propulsors and/orpropulsion assemblies. In an embodiment, the motor may eliminate needfor many external structural features that otherwise might be needed tojoin one component to another component. The motor may also increaseenergy efficiency by enabling a lower physical propulsor profile,reducing drag and/or wind resistance. This may also increase durabilityby lessening the extent to which drag and/or wind resistance add toforces acting on electric aircraft 700 and/or propulsors.

Referring still to FIG. 7 , aircraft may include at least a verticalpropulsor 704 and at least a forward propulsor 708. A forward propulsormay be a propulsor that propels the aircraft in a forward direction.Forward in this context may be not an indication of the propulsorposition on the aircraft; one or more propulsors mounted on the front,on the wings, at the rear, etc. A vertical propulsor may be a propulsorthat propels the aircraft in an upward direction; one of more verticalpropulsors may be mounted on the front, on the wings, at the rear,and/or any suitable location. A propulsor, as used herein, may be acomponent or device used to propel a craft by exerting force on a fluidmedium, which may include a gaseous medium such as air or a liquidmedium such as water. At least a vertical propulsor 704 may be apropulsor that generates a substantially downward thrust, tending topropel an aircraft in a vertical direction providing thrust formaneuvers such as without limitation, vertical take-off, verticallanding, hovering, and/or rotor-based flight such as “quadcopter” orsimilar styles of flight.

With continued reference to FIG. 7 , at least a forward propulsor 708 asused in this disclosure may be a propulsor positioned for propelling anaircraft in a “forward” direction; at least a forward propulsor mayinclude one or more propulsors mounted on the front, on the wings, atthe rear, or a combination of any such positions. At least a forwardpropulsor may propel an aircraft forward for fixed-wing and/or“airplane”-style flight, takeoff, and/or landing, and/or may propel theaircraft forward or backward on the ground. At least a verticalpropulsor 704 and at least a forward propulsor 708 includes a thrustelement. At least a thrust element may include any device or componentthat converts the mechanical energy of a motor, for instance in the formof rotational motion of a shaft, into thrust in a fluid medium. At leasta thrust element may include, without limitation, a device using movingor rotating foils, including without limitation one or more rotors, anairscrew or propeller, a set of airscrews or propellers such ascontrarotating propellers, a moving or flapping wing, or the like. Atleast a thrust element may include without limitation a marine propelleror screw, an impeller, a turbine, a pump-jet, a paddle or paddle-baseddevice, or the like. As another non-limiting example, at least a thrustelement may include an eight-bladed pusher propeller, such as aneight-bladed propeller mounted behind the engine to ensure the driveshaft may be in compression. Propulsors may include at least a motormechanically connected to at least a first propulsor as a source ofthrust. A motor may include without limitation, any electric motor,where an electric motor may be a device that converts electrical energyinto mechanical energy, for instance by causing a shaft to rotate. Atleast a motor may be driven by direct current (DC) electric power; forinstance, at least a first motor may include a brushed DC at least afirst motor, or the like. At least a first motor may be driven byelectric power having varying or reversing voltage levels, such asalternating current (AC) power as produced by an alternating currentgenerator and/or inverter, or otherwise varying power, such as producedby a switching power source. At least a first motor may include, withoutlimitation, brushless DC electric motors, permanent magnet synchronousat least a first motor, switched reluctance motors, or induction motors.In addition to inverter and/or a switching power source, a circuitdriving at least a first motor may include electronic speed controllersor other components for regulating motor speed, rotation direction,and/or dynamic braking. Persons skilled in the art, upon reviewing theentirety of this disclosure, will be aware of various devices that maybe used as at least a thrust element.

With continued reference to FIG. 7 , during flight, a number of forcesmay act upon the electric aircraft. Forces acting on an aircraft 700during flight may include thrust, the forward force produced by therotating element of the aircraft 700 and acts parallel to thelongitudinal axis. Drag may be defined as a rearward retarding forcewhich may be caused by disruption of airflow by any protruding surfaceof the aircraft 700 such as, without limitation, the wing, rotor, andfuselage. Drag may oppose thrust and acts rearward parallel to therelative wind. Another force acting on aircraft 700 may include weight,which may include a combined load of the aircraft 700 itself, crew,baggage and fuel. Weight may pull aircraft 700 downward due to the forceof gravity. An additional force acting on aircraft 700 may include lift,which may act to oppose the downward force of weight and may be producedby the dynamic effect of air acting on the airfoil and/or downwardthrust from at least a propulsor. Lift generated by the airfoil maydepends on speed of airflow, density of air, total area of an airfoiland/or segment thereof, and/or an angle of attack between air and theairfoil.

With continued reference to FIG. 7 , at least a portion of an electricaircraft may include at least a propulsor. A propulsor, as used herein,may be a component or device used to propel a craft by exerting force ona fluid medium, which may include a gaseous medium such as air or aliquid medium such as water. In an embodiment, when a propulsor twistsand pulls air behind it, it will, at the same time, push an aircraftforward with an equal amount of force. The more air pulled behind anaircraft, the greater the force with which the aircraft may be pushedforward. Propulsor may include any device or component that consumeselectrical power on demand to propel an electric aircraft in a directionor other vehicle while on ground or in-flight.

With continued reference to FIG. 7 , in an embodiment, at least aportion of the aircraft may include a propulsor, the propulsor mayinclude a propeller, a blade, or any combination of the two. Thefunction of a propeller may be to convert rotary motion from an engineor other power source into a swirling slipstream which pushes thepropeller forwards or backwards. Propulsor may include a rotatingpower-driven hub, to which are attached several radial airfoil-sectionblades such that the whole assembly rotates about a longitudinal axis.The blade pitch of the propellers may, for example, be fixed, manuallyvariable to a few set positions, automatically variable (e.g. a“constant-speed” type), or any combination thereof. In an embodiment,propellers for an aircraft are designed to be fixed to their hub at anangle similar to the thread on a screw makes an angle to the shaft; thisangle may be referred to as a pitch or pitch angle which will determinethe speed of the forward movement as the blade rotates.

With continued reference to FIG. 7 , in an embodiment, a propulsor caninclude a thrust element which may be integrated into the propulsor.Thrust element may include, without limitation, a device using moving orrotating foils, such as one or more rotors, an airscrew or propeller, aset of airscrews or propellers such as contra-rotating propellers, amoving or flapping wing, or the like. Further, a thrust element, forexample, can include without limitation a marine propeller or screw, animpeller, a turbine, a pump-jet, a paddle or paddle-based device, or thelike.

With continued reference to FIG. 7 , control surfaces may each includeany portion of an aircraft that can be moved or adjusted to affectaltitude, airspeed velocity, groundspeed velocity or direction duringflight. For example, control surfaces may include a component used toaffect the aircrafts' roll and pitch which may include one or moreailerons, defined herein as hinged surfaces which form part of thetrailing edge of each wing in a fixed wing aircraft, and which may bemoved via mechanical means such as without limitation servomotors,mechanical linkages, or the like, to name a few. As a further example,control surfaces may include a rudder, which may include, withoutlimitation, a segmented rudder. Rudder may function, without limitation,to control yaw of an aircraft. Also, control surfaces may include otherflight control surfaces such as propulsors, rotating flight controls, orany other structural features which can adjust the movement of theaircraft. A “control surface” as described in this disclosure, is anyform of a mechanical linkage with a surface area that interacts withforces to move an aircraft. A control surface may include, as anon-limiting example, ailerons, flaps, leading edge flaps, rudders,elevators, spoilers, slats, blades, stabilizers, stabilators, airfoils,a combination thereof, or any other mechanical surface are used tocontrol an aircraft in a fluid medium. Persons skilled in the art, uponreviewing the entirety of this disclosure, will be aware of variousmechanical linkages that may be used as a control surface, as used anddescribed in this disclosure.

With continued reference to FIG. 7 , aircraft 700 trajectory ismanipulated by one or more control surfaces and propulsors working aloneor in tandem consistent with the entirety of this disclosure,hereinbelow. Pitch, roll, and yaw may be used to describe an aircraft'sattitude and/or heading, as they correspond to three separate anddistinct axes about which the aircraft may rotate with an appliedmoment, torque, and/or other force applied to at least a portion of anaircraft. “Pitch”, for the purposes of this disclosure refers to anaircraft's angle of attack, that is the difference between theaircraft's nose and the horizontal flight trajectory. For example, anaircraft pitches “up” when its nose is angled upward compared tohorizontal flight, like in a climb maneuver. In another example, theaircraft pitches “down”, when its nose is angled downward compared tohorizontal flight, like in a dive maneuver. When angle of attack is notan acceptable input to any system disclosed herein, proxies may be usedsuch as pilot controls, remote controls, or sensor levels, such as trueairspeed sensors, pitot tubes, pneumatic/hydraulic sensors, and thelike. “Roll” for the purposes of this disclosure, refers to anaircraft's position about its longitudinal axis, that is to say thatwhen an aircraft rotates about its axis from its tail to its nose, andone side rolls upward, like in a banking maneuver. “Yaw”, for thepurposes of this disclosure, refers to an aircraft's turn angle, when anaircraft rotates about an imaginary vertical axis intersecting thecenter of the earth and the fuselage of the aircraft. “Throttle”, forthe purposes of this disclosure, refers to an aircraft outputting anamount of thrust from a propulsor. Pilot input, when referring tothrottle, may refer to a pilot's desire to increase or decrease thrustproduced by at least a propulsor. More than one propulsor may berequired to adjust torques to accomplish the command to change pitch andyaw, mixer would take in the command and allocate those torques to theappropriate propulsors consistent with the entirety of this disclosure.One of ordinary skill in the art, after reading the entirety of thisdisclosure, will appreciate the limitless combination of propulsors,flight components, control surfaces, or combinations thereof that couldbe used in tandem to generate some amount of authority in pitch, roll,yaw, and lift of an electric aircraft consistent with this disclosure.

With continued reference to FIG. 7 , “flight components”, for thepurposes of this disclosure, includes components related to, andmechanically connected to an aircraft that manipulates a fluid medium inorder to propel and maneuver the aircraft through the fluid medium. Theoperation of the aircraft through the fluid medium will be discussed atgreater length hereinbelow. At least an input datum may includeinformation gathered by one or more sensors. In non-limitingembodiments, flight components may include propulsors, wings, rotors,propellers, pusher propellers, ailerons, elevators, stabilizers,stabilators, and the like, among others.

It is to be noted that any one or more of the aspects and embodimentsdescribed herein may be conveniently implemented using one or moremachines (e.g., one or more computing devices that are utilized as auser computing device for an electronic document, one or more serverdevices, such as a document server, etc.) programmed according to theteachings of the present specification, as will be apparent to those ofordinary skill in the computer art. Appropriate software coding canreadily be prepared by skilled programmers based on the teachings of thepresent disclosure, as will be apparent to those of ordinary skill inthe software art. Aspects and implementations discussed above employingsoftware and/or software modules may also include appropriate hardwarefor assisting in the implementation of the machine executableinstructions of the software and/or software module.

Such software may be a computer program product that employs amachine-readable storage medium. A machine-readable storage medium maybe any medium that is capable of storing and/or encoding a sequence ofinstructions for execution by a machine (e.g., a computing device) andthat causes the machine to perform any one of the methodologies and/orembodiments described herein. Examples of a machine-readable storagemedium include, but are not limited to, a magnetic disk, an optical disc(e.g., CD, CD-R, DVD, DVD-R, etc.), a magneto-optical disk, a read-onlymemory “ROM” device, a random access memory “RAM” device, a magneticcard, an optical card, a solid-state memory device, an EPROM, an EEPROM,and any combinations thereof. A machine-readable medium, as used herein,is intended to include a single medium as well as a collection ofphysically separate media, such as, for example, a collection of compactdiscs or one or more hard disk drives in combination with a computermemory. As used herein, a machine-readable storage medium does notinclude transitory forms of signal transmission.

Such software may also include information (e.g., data) carried as adata signal on a data carrier, such as a carrier wave. For example,machine-executable information may be included as a data-carrying signalembodied in a data carrier in which the signal encodes a sequence ofinstruction, or portion thereof, for execution by a machine (e.g., acomputing device) and any related information (e.g., data structures anddata) that causes the machine to perform any one of the methodologiesand/or embodiments described herein.

Examples of a computing device include, but are not limited to, anelectronic book reading device, a computer workstation, a terminalcomputer, a server computer, a handheld device (e.g., a tablet computer,a smartphone, etc.), a web appliance, a network router, a networkswitch, a network bridge, any machine capable of executing a sequence ofinstructions that specify an action to be taken by that machine, and anycombinations thereof. In one example, a computing device may includeand/or be included in a kiosk.

FIG. 8 shows a diagrammatic representation of one embodiment of acomputing device in the exemplary form of a computer system 800 withinwhich a set of instructions for causing a control system to perform anyone or more of the aspects and/or methodologies of the presentdisclosure may be executed. It is also contemplated that multiplecomputing devices may be utilized to implement a specially configuredset of instructions for causing one or more of the devices to performany one or more of the aspects and/or methodologies of the presentdisclosure. Computer system 800 includes a processor 804 and a memory808 that communicate with each other, and with other components, via abus 812. Bus 812 may include any of several types of bus structuresincluding, but not limited to, a memory bus, a memory controller, aperipheral bus, a local bus, and any combinations thereof, using any ofa variety of bus architectures.

Processor 804 may include any suitable processor, such as withoutlimitation a processor incorporating logical circuitry for performingarithmetic and logical operations, such as an arithmetic and logic unit(ALU), which may be regulated with a state machine and directed byoperational inputs from memory and/or sensors; processor 804 may beorganized according to Von Neumann and/or Harvard architecture as anon-limiting example. Processor 804 may include, incorporate, and/or beincorporated in, without limitation, a microcontroller, microprocessor,digital signal processor (DSP), Field Programmable Gate Array (FPGA),Complex Programmable Logic Device (CPLD), Graphical Processing Unit(GPU), general purpose GPU, Tensor Processing Unit (TPU), analog ormixed signal processor, Trusted Platform Module (TPM), a floating pointunit (FPU), and/or system on a chip (SoC).

Memory 808 may include various components (e.g., machine-readable media)including, but not limited to, a random-access memory component, a readonly component, and any combinations thereof. In one example, a basicinput/output system 816 (BIOS), including basic routines that help totransfer information between elements within computer system 800, suchas during start-up, may be stored in memory 808. Memory 808 may alsoinclude (e.g., stored on one or more machine-readable media)instructions (e.g., software) 820 embodying any one or more of theaspects and/or methodologies of the present disclosure. In anotherexample, memory 808 may further include any number of program modulesincluding, but not limited to, an operating system, one or moreapplication programs, other program modules, program data, and anycombinations thereof.

Computer system 800 may also include a storage device 824. Examples of astorage device (e.g., storage device 824) include, but are not limitedto, a hard disk drive, a magnetic disk drive, an optical disc drive incombination with an optical medium, a solid-state memory device, and anycombinations thereof. Storage device 824 may be connected to bus 812 byan appropriate interface (not shown). Example interfaces include, butare not limited to, SCSI, advanced technology attachment (ATA), serialATA, universal serial bus (USB), IEEE 1394 (FIREWIRE), and anycombinations thereof. In one example, storage device 824 (or one or morecomponents thereof) may be removably interfaced with computer system 800(e.g., via an external port connector (not shown)). Particularly,storage device 824 and an associated machine-readable medium 828 mayprovide nonvolatile and/or volatile storage of machine-readableinstructions, data structures, program modules, and/or other data forcomputer system 800. In one example, software 820 may reside, completelyor partially, within machine-readable medium 828. In another example,software 820 may reside, completely or partially, within processor 804.

Computer system 800 may also include an input device 832. In oneexample, a user of computer system 800 may enter commands and/or otherinformation into computer system 800 via input device 832. Examples ofan input device 832 include, but are not limited to, an alpha-numericinput device (e.g., a keyboard), a pointing device, a joystick, agamepad, an audio input device (e.g., a microphone, a voice responsesystem, etc.), a cursor control device (e.g., a mouse), a touchpad, anoptical scanner, a video capture device (e.g., a still camera, a videocamera), a touchscreen, and any combinations thereof. Input device 832may be interfaced to bus 812 via any of a variety of interfaces (notshown) including, but not limited to, a serial interface, a parallelinterface, a game port, a USB interface, a FIREWIRE interface, a directinterface to bus 812, and any combinations thereof. Input device 832 mayinclude a touch screen interface that may be a part of or separate fromdisplay 836, discussed further below. Input device 832 may be utilizedas a user selection device for selecting one or more graphicalrepresentations in a graphical interface as described above.

A user may also input commands and/or other information to computersystem 800 via storage device 824 (e.g., a removable disk drive, a flashdrive, etc.) and/or network interface device 840. A network interfacedevice, such as network interface device 840, may be utilized forconnecting computer system 800 to one or more of a variety of networks,such as network 844, and one or more remote devices 848 connectedthereto. Examples of a network interface device include, but are notlimited to, a network interface card (e.g., a mobile network interfacecard, a LAN card), a modem, and any combination thereof. Examples of anetwork include, but are not limited to, a wide area network (e.g., theInternet, an enterprise network), a local area network (e.g., a networkassociated with an office, a building, a campus or other relativelysmall geographic space), a telephone network, a data network associatedwith a telephone/voice provider (e.g., a mobile communications providerdata and/or voice network), a direct connection between two computingdevices, and any combinations thereof. A network, such as network 844,may employ a wired and/or a wireless mode of communication. In general,any network topology may be used. Information (e.g., data, software 820,etc.) may be communicated to and/or from computer system 800 via networkinterface device 840.

Computer system 800 may further include a video display adapter 852 forcommunicating a displayable image to a display device, such as displaydevice 836. Examples of a display device include, but are not limitedto, a liquid crystal display (LCD), a cathode ray tube (CRT), a plasmadisplay, a light emitting diode (LED) display, and any combinationsthereof. Display adapter 852 and display device 836 may be utilized incombination with processor 804 to provide graphical representations ofaspects of the present disclosure. In addition to a display device,computer system 800 may include one or more other peripheral outputdevices including, but not limited to, an audio speaker, a printer, andany combinations thereof. Such peripheral output devices may beconnected to bus 812 via a peripheral interface 856. Examples of aperipheral interface include, but are not limited to, a serial port, aUSB connection, a FIREWIRE connection, a parallel connection, and anycombinations thereof.

Now referring to FIG. 9 , an exemplary embodiment 900 of a flightcontroller 904 is illustrated. As used in this disclosure a “flightcontroller” is a computing device of a plurality of computing devicesdedicated to data storage, security, distribution of traffic for loadbalancing, and flight instruction. Flight controller 904 may includeand/or communicate with any computing device as described in thisdisclosure, including without limitation a microcontroller,microprocessor, digital signal processor (DSP) and/or system on a chip(SoC) as described in this disclosure. Further, flight controller 904may include a single computing device operating independently, or mayinclude two or more computing device operating in concert, in parallel,sequentially or the like; two or more computing devices may be includedtogether in a single computing device or in two or more computingdevices. In embodiments, flight controller 904 may be installed in anaircraft, may control the aircraft remotely, and/or may include anelement installed in the aircraft and a remote element in communicationtherewith.

In an embodiment, and still referring to FIG. 9 , flight controller 904may include a signal transformation component 908. As used in thisdisclosure a “signal transformation component” is a component thattransforms and/or converts a first signal to a second signal, wherein asignal may include one or more digital and/or analog signals. Forexample, and without limitation, signal transformation component 908 maybe configured to perform one or more operations such as preprocessing,lexical analysis, parsing, semantic analysis, and the like thereof. Inan embodiment, and without limitation, signal transformation component908 may include one or more analog-to-digital convertors that transforma first signal of an analog signal to a second signal of a digitalsignal. For example, and without limitation, an analog-to-digitalconverter may convert an analog input signal to a 10-bit binary digitalrepresentation of that signal. In another embodiment, signaltransformation component 908 may include transforming one or morelow-level languages such as, but not limited to, machine languagesand/or assembly languages. For example, and without limitation, signaltransformation component 908 may include transforming a binary languagesignal to an assembly language signal. In an embodiment, and withoutlimitation, signal transformation component 908 may include transformingone or more high-level languages and/or formal languages such as but notlimited to alphabets, strings, and/or languages. For example, andwithout limitation, high-level languages may include one or more systemlanguages, scripting languages, domain-specific languages, visuallanguages, esoteric languages, and the like thereof. As a furthernon-limiting example, high-level languages may include one or morealgebraic formula languages, business data languages, string and listlanguages, object-oriented languages, and the like thereof.

Still referring to FIG. 9 , signal transformation component 908 may beconfigured to optimize an intermediate representation 912. As used inthis disclosure an “intermediate representation” is a data structureand/or code that represents the input signal. Signal transformationcomponent 908 may optimize intermediate representation as a function ofa data-flow analysis, dependence analysis, alias analysis, pointeranalysis, escape analysis, and the like thereof. In an embodiment, andwithout limitation, signal transformation component 908 may optimizeintermediate representation 912 as a function of one or more inlineexpansions, dead code eliminations, constant propagation, looptransformations, and/or automatic parallelization functions. In anotherembodiment, signal transformation component 908 may optimizeintermediate representation as a function of a machine dependentoptimization such as a peephole optimization, wherein a peepholeoptimization may rewrite short sequences of code into more efficientsequences of code. Signal transformation component 908 may optimizeintermediate representation to generate an output language, wherein an“output language,” as used herein, is the native machine language offlight controller 904. For example, and without limitation, nativemachine language may include one or more binary and/or numericallanguages.

In an embodiment, and without limitation, signal transformationcomponent 908 may include transform one or more inputs and outputs as afunction of an error correction code. An error correction code, alsoknown as error correcting code (ECC), is an encoding of a message or lotof data using redundant information, permitting recovery of corrupteddata. An ECC may include a block code, in which information is encodedon fixed-size packets and/or blocks of data elements such as symbols ofpredetermined size, bits, or the like. Reed-Solomon coding, in whichmessage symbols within a symbol set having q symbols are encoded ascoefficients of a polynomial of degree less than or equal to a naturalnumber k, over a finite field F with q elements; strings so encoded havea minimum hamming distance of k+1, and permit correction of (q−k−1)/2erroneous symbols. Block code may alternatively or additionally beimplemented using Golay coding, also known as binary Golay coding,Bose-Chaudhuri, Hocquenghuem (BCH) coding, multidimensional parity-checkcoding, and/or Hamming codes. An ECC may alternatively or additionallybe based on a convolutional code.

In an embodiment, and still referring to FIG. 9 , flight controller 904may include a reconfigurable hardware platform 916. A “reconfigurablehardware platform,” as used herein, is a component and/or unit ofhardware that may be reprogrammed, such that, for instance, a data pathbetween elements such as logic gates or other digital circuit elementsmay be modified to change an algorithm, state, logical sequence, or thelike of the component and/or unit. This may be accomplished with suchflexible high-speed computing fabrics as field-programmable gate arrays(FPGAs), which may include a grid of interconnected logic gates,connections between which may be severed and/or restored to program inmodified logic. Reconfigurable hardware platform 916 may be reconfiguredto enact any algorithm and/or algorithm selection process received fromanother computing device and/or created using machine-learningprocesses.

Still referring to FIG. 9 , reconfigurable hardware platform 916 mayinclude a logic component 920. As used in this disclosure a “logiccomponent” is a component that executes instructions on output language.For example, and without limitation, logic component may perform basicarithmetic, logic, controlling, input/output operations, and the likethereof. Logic component 920 may include any suitable processor, such aswithout limitation a component incorporating logical circuitry forperforming arithmetic and logical operations, such as an arithmetic andlogic unit (ALU), which may be regulated with a state machine anddirected by operational inputs from memory and/or sensors; logiccomponent 920 may be organized according to Von Neumann and/or Harvardarchitecture as a non-limiting example. Logic component 920 may include,incorporate, and/or be incorporated in, without limitation, amicrocontroller, microprocessor, digital signal processor (DSP), FieldProgrammable Gate Array (FPGA), Complex Programmable Logic Device(CPLD), Graphical Processing Unit (GPU), general purpose GPU, TensorProcessing Unit (TPU), analog or mixed signal processor, TrustedPlatform Module (TPM), a floating point unit (FPU), and/or system on achip (SoC). In an embodiment, logic component 920 may include one ormore integrated circuit microprocessors, which may contain one or morecentral processing units, central processors, and/or main processors, ona single metal-oxide-semiconductor chip. Logic component 920 may beconfigured to execute a sequence of stored instructions to be performedon the output language and/or intermediate representation 912. Logiccomponent 920 may be configured to fetch and/or retrieve the instructionfrom a memory cache, wherein a “memory cache,” as used in thisdisclosure, is a stored instruction set on flight controller 904. Logiccomponent 920 may be configured to decode the instruction retrieved fromthe memory cache to opcodes and/or operands. Logic component 920 may beconfigured to execute the instruction on intermediate representation 912and/or output language. For example, and without limitation, logiccomponent 920 may be configured to execute an addition operation onintermediate representation 912 and/or output language.

In an embodiment, and without limitation, logic component 920 may beconfigured to calculate a flight element 924. As used in this disclosurea “flight element” is an element of datum denoting a relative status ofaircraft. For example, and without limitation, flight element 924 maydenote one or more torques, thrusts, airspeed velocities, forces,altitudes, groundspeed velocities, directions during flight, directionsfacing, forces, orientations, and the like thereof. For example, andwithout limitation, flight element 924 may denote that aircraft iscruising at an altitude and/or with a sufficient magnitude of forwardthrust. As a further non-limiting example, flight status may denote thatis building thrust and/or groundspeed velocity in preparation for atakeoff. As a further non-limiting example, flight element 924 maydenote that aircraft is following a flight path accurately and/orsufficiently.

Still referring to FIG. 9 , flight controller 904 may include a chipsetcomponent 928. As used in this disclosure a “chipset component” is acomponent that manages data flow. In an embodiment, and withoutlimitation, chipset component 928 may include a northbridge data flowpath, wherein the northbridge dataflow path may manage data flow fromlogic component 920 to a high-speed device and/or component, such as aRAM, graphics controller, and the like thereof. In another embodiment,and without limitation, chipset component 928 may include a southbridgedata flow path, wherein the southbridge dataflow path may manage dataflow from logic component 920 to lower-speed peripheral buses, such as aperipheral component interconnect (PCI), industry standard architecture(ICA), and the like thereof. In an embodiment, and without limitation,southbridge data flow path may include managing data flow betweenperipheral connections such as ethernet, USB, audio devices, and thelike thereof. Additionally or alternatively, chipset component 928 maymanage data flow between logic component 920, memory cache, and a flightcomponent 932. As used in this disclosure a “flight component” is aportion of an aircraft that can be moved or adjusted to affect one ormore flight elements. For example, flight component 932 may include acomponent used to affect the aircrafts' roll and pitch which maycomprise one or more ailerons. As a further example, flight component932 may include a rudder to control yaw of an aircraft. In anembodiment, chipset component 928 may be configured to communicate witha plurality of flight components as a function of flight element 924.For example, and without limitation, chipset component 928 may transmitto an aircraft rotor to reduce torque of a first lift propulsor andincrease the forward thrust produced by a pusher component to perform aflight maneuver.

In an embodiment, and still referring to FIG. 9 , flight controller 904may be configured generate an autonomous function. As used in thisdisclosure an “autonomous function” is a mode and/or function of flightcontroller 904 that controls aircraft automatically. For example, andwithout limitation, autonomous function may perform one or more aircraftmaneuvers, take offs, landings, altitude adjustments, flight levelingadjustments, turns, climbs, and/or descents. As a further non-limitingexample, autonomous function may adjust one or more airspeed velocities,thrusts, torques, and/or groundspeed velocities. As a furthernon-limiting example, autonomous function may perform one or more flightpath corrections and/or flight path modifications as a function offlight element 924. In an embodiment, autonomous function may includeone or more modes of autonomy such as, but not limited to, autonomousmode, semi-autonomous mode, and/or non-autonomous mode. As used in thisdisclosure “autonomous mode” is a mode that automatically adjusts and/orcontrols aircraft and/or the maneuvers of aircraft in its entirety. Forexample, autonomous mode may denote that flight controller 904 willadjust the aircraft. As used in this disclosure a “semi-autonomous mode”is a mode that automatically adjusts and/or controls a portion and/orsection of aircraft. For example, and without limitation,semi-autonomous mode may denote that a pilot will control thepropulsors, wherein flight controller 904 will control the aileronsand/or rudders. As used in this disclosure “non-autonomous mode” is amode that denotes a pilot will control aircraft and/or maneuvers ofaircraft in its entirety.

In an embodiment, and still referring to FIG. 9 , flight controller 904may generate autonomous function as a function of an autonomousmachine-learning model. As used in this disclosure an “autonomousmachine-learning model” is a machine-learning model to produce anautonomous function output given flight element 924 and a pilot signal936 as inputs; this is in contrast to a non-machine learning softwareprogram where the commands to be executed are determined in advance by auser and written in a programming language. As used in this disclosure a“pilot signal” is an element of datum representing one or more functionsa pilot is controlling and/or adjusting. For example, pilot signal 936may denote that a pilot is controlling and/or maneuvering ailerons,wherein the pilot is not in control of the rudders and/or propulsors. Inan embodiment, pilot signal 936 may include an implicit signal and/or anexplicit signal. For example, and without limitation, pilot signal 936may include an explicit signal, wherein the pilot explicitly statesthere is a lack of control and/or desire for autonomous function. As afurther non-limiting example, pilot signal 936 may include an explicitsignal directing flight controller 904 to control and/or maintain aportion of aircraft, a portion of the flight plan, the entire aircraft,and/or the entire flight plan. As a further non-limiting example, pilotsignal 936 may include an implicit signal, wherein flight controller 904detects a lack of control such as by a malfunction, torque alteration,flight path deviation, and the like thereof. In an embodiment, andwithout limitation, pilot signal 936 may include one or more explicitsignals to reduce torque, and/or one or more implicit signals thattorque may be reduced due to reduction of airspeed velocity. In anembodiment, and without limitation, pilot signal 936 may include one ormore local and/or global signals. For example, and without limitation,pilot signal 936 may include a local signal that is transmitted by apilot and/or crew member. As a further non-limiting example, pilotsignal 936 may include a global signal that is transmitted by airtraffic control and/or one or more remote users that are incommunication with the pilot of aircraft. In an embodiment, pilot signal936 may be received as a function of a tri-state bus and/or multiplexorthat denotes an explicit pilot signal should be transmitted prior to anyimplicit or global pilot signal.

Still referring to FIG. 9 , autonomous machine-learning model mayinclude one or more autonomous machine-learning processes such assupervised, unsupervised, or reinforcement machine-learning processesthat flight controller 904 and/or a remote device may or may not use inthe generation of autonomous function. As used in this disclosure“remote device” is an external device to flight controller 904.Additionally or alternatively, autonomous machine-learning model mayinclude one or more autonomous machine-learning processes that afield-programmable gate array (FPGA) may or may not use in thegeneration of autonomous function. Autonomous machine-learning processmay include, without limitation machine learning processes such assimple linear regression, multiple linear regression, polynomialregression, support vector regression, ridge regression, lassoregression, elasticnet regression, decision tree regression, randomforest regression, logistic regression, logistic classification,K-nearest neighbors, support vector machines, kernel support vectormachines, naïve bayes, decision tree classification, random forestclassification, K-means clustering, hierarchical clustering,dimensionality reduction, principal component analysis, lineardiscriminant analysis, kernel principal component analysis, Q-learning,State Action Reward State Action (SARSA), Deep-Q network, Markovdecision processes, Deep Deterministic Policy Gradient (DDPG), or thelike thereof.

In an embodiment, and still referring to FIG. 9 , autonomous machinelearning model may be trained as a function of autonomous training data,wherein autonomous training data may correlate a flight element, pilotsignal, and/or simulation data to an autonomous function. For example,and without limitation, a flight element of an airspeed velocity, apilot signal of limited and/or no control of propulsors, and asimulation data of required airspeed velocity to reach the destinationmay result in an autonomous function that includes a semi-autonomousmode to increase thrust of the propulsors. Autonomous training data maybe received as a function of user-entered valuations of flight elements,pilot signals, simulation data, and/or autonomous functions. Flightcontroller 904 may receive autonomous training data by receivingcorrelations of flight element, pilot signal, and/or simulation data toan autonomous function that were previously received and/or determinedduring a previous iteration of generation of autonomous function.Autonomous training data may be received by one or more remote devicesand/or FPGAs that at least correlate a flight element, pilot signal,and/or simulation data to an autonomous function. Autonomous trainingdata may be received in the form of one or more user-enteredcorrelations of a flight element, pilot signal, and/or simulation datato an autonomous function.

Still referring to FIG. 9 , flight controller 904 may receive autonomousmachine-learning model from a remote device and/or FPGA that utilizesone or more autonomous machine learning processes, wherein a remotedevice and an FPGA is described above in detail. For example, andwithout limitation, a remote device may include a computing device,external device, processor, FPGA, microprocessor and the like thereof.Remote device and/or FPGA may perform the autonomous machine-learningprocess using autonomous training data to generate autonomous functionand transmit the output to flight controller 904. Remote device and/orFPGA may transmit a signal, bit, datum, or parameter to flightcontroller 904 that at least relates to autonomous function.Additionally or alternatively, the remote device and/or FPGA may providean updated machine-learning model. For example, and without limitation,an updated machine-learning model may be comprised of a firmware update,a software update, a autonomous machine-learning process correction, andthe like thereof. As a non-limiting example a software update mayincorporate a new simulation data that relates to a modified flightelement. Additionally or alternatively, the updated machine learningmodel may be transmitted to the remote device and/or FPGA, wherein theremote device and/or FPGA may replace the autonomous machine-learningmodel with the updated machine-learning model and generate theautonomous function as a function of the flight element, pilot signal,and/or simulation data using the updated machine-learning model. Theupdated machine-learning model may be transmitted by the remote deviceand/or FPGA and received by flight controller 904 as a software update,firmware update, or corrected autonomous machine-learning model. Forexample, and without limitation autonomous machine learning model mayutilize a neural net machine-learning process, wherein the updatedmachine-learning model may incorporate a gradient boostingmachine-learning process.

Still referring to FIG. 9 , flight controller 904 may include, beincluded in, and/or communicate with a mobile device such as a mobiletelephone or smartphone. Further, flight controller may communicate withone or more additional devices as described below in further detail viaa network interface device. The network interface device may be utilizedfor commutatively connecting a flight controller to one or more of avariety of networks, and one or more devices. Examples of a networkinterface device include, but are not limited to, a network interfacecard (e.g., a mobile network interface card, a LAN card), a modem, andany combination thereof. Examples of a network include, but are notlimited to, a wide area network (e.g., the Internet, an enterprisenetwork), a local area network (e.g., a network associated with anoffice, a building, a campus or other relatively small geographicspace), a telephone network, a data network associated with atelephone/voice provider (e.g., a mobile communications provider dataand/or voice network), a direct connection between two computingdevices, and any combinations thereof. The network may include anynetwork topology and can may employ a wired and/or a wireless mode ofcommunication.

In an embodiment, and still referring to FIG. 9 , flight controller 904may include, but is not limited to, for example, a cluster of flightcontrollers in a first location and a second flight controller orcluster of flight controllers in a second location. Flight controller904 may include one or more flight controllers dedicated to datastorage, security, distribution of traffic for load balancing, and thelike. Flight controller 904 may be configured to distribute one or morecomputing tasks as described below across a plurality of flightcontrollers, which may operate in parallel, in series, redundantly, orin any other manner used for distribution of tasks or memory betweencomputing devices. For example, and without limitation, flightcontroller 904 may implement a control algorithm to distribute and/orcommand the plurality of flight controllers. As used in this disclosurea “control algorithm” is a finite sequence of well-defined computerimplementable instructions that may determine the flight component ofthe plurality of flight components to be adjusted. For example, andwithout limitation, control algorithm may include one or more algorithmsthat reduce and/or prevent aviation asymmetry. As a further non-limitingexample, control algorithms may include one or more models generated asa function of a software including, but not limited to Simulink byMathWorks, Natick, Mass., USA. In an embodiment, and without limitation,control algorithm may be configured to generate an auto-code, wherein an“auto-code,” is used herein, is a code and/or algorithm that isgenerated as a function of the one or more models and/or software's. Inanother embodiment, control algorithm may be configured to produce asegmented control algorithm. As used in this disclosure a “segmentedcontrol algorithm” is control algorithm that has been separated and/orparsed into discrete sections. For example, and without limitation,segmented control algorithm may parse control algorithm into two or moresegments, wherein each segment of control algorithm may be performed byone or more flight controllers operating on distinct flight components.

In an embodiment, and still referring to FIG. 9 , control algorithm maybe configured to determine a segmentation boundary as a function ofsegmented control algorithm. As used in this disclosure a “segmentationboundary” is a limit and/or delineation associated with the segments ofthe segmented control algorithm. For example, and without limitation,segmentation boundary may denote that a segment in the control algorithmhas a first starting section and/or a first ending section. As a furthernon-limiting example, segmentation boundary may include one or moreboundaries associated with an ability of flight component 932. In anembodiment, control algorithm may be configured to create an optimizedsignal communication as a function of segmentation boundary. Forexample, and without limitation, optimized signal communication mayinclude identifying the discrete timing required to transmit and/orreceive the one or more segmentation boundaries. In an embodiment, andwithout limitation, creating optimized signal communication furthercomprises separating a plurality of signal codes across the plurality offlight controllers. For example, and without limitation the plurality offlight controllers may include one or more formal networks, whereinformal networks transmit data along an authority chain and/or arelimited to task-related communications. As a further non-limitingexample, communication network may include informal networks, whereininformal networks transmit data in any direction. In an embodiment, andwithout limitation, the plurality of flight controllers may include achain path, wherein a “chain path,” as used herein, is a linearcommunication path comprising a hierarchy that data may flow through. Inan embodiment, and without limitation, the plurality of flightcontrollers may include an all-channel path, wherein an “all-channelpath,” as used herein, is a communication path that is not restricted toa particular direction. For example, and without limitation, data may betransmitted upward, downward, laterally, and the like thereof. In anembodiment, and without limitation, the plurality of flight controllersmay include one or more neural networks that assign a weighted value toa transmitted datum. For example, and without limitation, a weightedvalue may be assigned as a function of one or more signals denoting thata flight component is malfunctioning and/or in a failure state.

Still referring to FIG. 9 , the plurality of flight controllers mayinclude a master bus controller. As used in this disclosure a “masterbus controller” is one or more devices and/or components that areconnected to a bus to initiate a direct memory access transaction,wherein a bus is one or more terminals in a bus architecture. Master buscontroller may communicate using synchronous and/or asynchronous buscontrol protocols. In an embodiment, master bus controller may includeflight controller 904. In another embodiment, master bus controller mayinclude one or more universal asynchronous receiver-transmitters (UART).For example, and without limitation, master bus controller may includeone or more bus architectures that allow a bus to initiate a directmemory access transaction from one or more buses in the busarchitectures. As a further non-limiting example, master bus controllermay include one or more peripheral devices and/or components tocommunicate with another peripheral device and/or component and/or themaster bus controller. In an embodiment, master bus controller may beconfigured to perform bus arbitration. As used in this disclosure “busarbitration” is method and/or scheme to prevent multiple buses fromattempting to communicate with and/or connect to master bus controller.For example and without limitation, bus arbitration may include one ormore schemes such as a small computer interface system, wherein a smallcomputer interface system is a set of standards for physical connectingand transferring data between peripheral devices and master buscontroller by defining commands, protocols, electrical, optical, and/orlogical interfaces. In an embodiment, master bus controller may receiveintermediate representation 912 and/or output language from logiccomponent 920, wherein output language may include one or moreanalog-to-digital conversions, low bit rate transmissions, messageencryptions, digital signals, binary signals, logic signals, analogsignals, and the like thereof described above in detail.

Still referring to FIG. 9 , master bus controller may communicate with aslave bus. As used in this disclosure a “slave bus” is one or moreperipheral devices and/or components that initiate a bus transfer. Forexample, and without limitation, slave bus may receive one or morecontrols and/or asymmetric communications from master bus controller,wherein slave bus transfers data stored to master bus controller. In anembodiment, and without limitation, slave bus may include one or moreinternal buses, such as but not limited to a/an internal data bus,memory bus, system bus, front-side bus, and the like thereof. In anotherembodiment, and without limitation, slave bus may include one or moreexternal buses such as external flight controllers, external computers,remote devices, printers, aircraft computer systems, flight controlsystems, and the like thereof.

In an embodiment, and still referring to FIG. 9 , control algorithm mayoptimize signal communication as a function of determining one or morediscrete timings. For example, and without limitation master buscontroller may synchronize timing of the segmented control algorithm byinjecting high priority timing signals on a bus of the master buscontrol. As used in this disclosure a “high priority timing signal” isinformation denoting that the information is important. For example, andwithout limitation, high priority timing signal may denote that asection of control algorithm is of high priority and should be analyzedand/or transmitted prior to any other sections being analyzed and/ortransmitted. In an embodiment, high priority timing signal may includeone or more priority packets. As used in this disclosure a “prioritypacket” is a formatted unit of data that is communicated between theplurality of flight controllers. For example, and without limitation,priority packet may denote that a section of control algorithm should beused and/or is of greater priority than other sections.

Still referring to FIG. 9 , flight controller 904 may also beimplemented using a “shared nothing” architecture in which data iscached at the worker, in an embodiment, this may enable scalability ofaircraft and/or computing device. Flight controller 904 may include adistributer flight controller. As used in this disclosure a “distributerflight controller” is a component that adjusts and/or controls aplurality of flight components as a function of a plurality of flightcontrollers. For example, distributer flight controller may include aflight controller that communicates with a plurality of additionalflight controllers and/or clusters of flight controllers. In anembodiment, distributed flight control may include one or more neuralnetworks. For example, neural network also known as an artificial neuralnetwork, is a network of “nodes,” or data structures having one or moreinputs, one or more outputs, and a function determining outputs based oninputs. Such nodes may be organized in a network, such as withoutlimitation a convolutional neural network, including an input layer ofnodes, one or more intermediate layers, and an output layer of nodes.Connections between nodes may be created via the process of “training”the network, in which elements from a training dataset are applied tothe input nodes, a suitable training algorithm (such asLevenberg-Marquardt, conjugate gradient, simulated annealing, or otheralgorithms) is then used to adjust the connections and weights betweennodes in adjacent layers of the neural network to produce the desiredvalues at the output nodes. This process is sometimes referred to asdeep learning.

Still referring to FIG. 9 , a node may include, without limitation aplurality of inputs x_(i) that may receive numerical values from inputsto a neural network containing the node and/or from other nodes. Nodemay perform a weighted sum of inputs using weights w_(i) that aremultiplied by respective inputs x_(i). Additionally or alternatively, abias b may be added to the weighted sum of the inputs such that anoffset is added to each unit in the neural network layer that isindependent of the input to the layer. The weighted sum may then beinput into a function φ, which may generate one or more outputs y.Weight w_(i) applied to an input x_(i) may indicate whether the input is“excitatory,” indicating that it has strong influence on the one or moreoutputs y, for instance by the corresponding weight having a largenumerical value, and/or a “inhibitory,” indicating it has a weak effectinfluence on the one more inputs y, for instance by the correspondingweight having a small numerical value. The values of weights w_(i) maybe determined by training a neural network using training data, whichmay be performed using any suitable process as described above. In anembodiment, and without limitation, a neural network may receivesemantic units as inputs and output vectors representing such semanticunits according to weights w_(i) that are derived using machine-learningprocesses as described in this disclosure.

Still referring to FIG. 9 , flight controller may include asub-controller 940. As used in this disclosure a “sub-controller” is acontroller and/or component that is part of a distributed controller asdescribed above; for instance, flight controller 904 may be and/orinclude a distributed flight controller made up of one or moresub-controllers. For example, and without limitation, sub-controller 940may include any controllers and/or components thereof that are similarto distributed flight controller and/or flight controller as describedabove. Sub-controller 940 may include any component of any flightcontroller as described above. Sub-controller 940 may be implemented inany manner suitable for implementation of a flight controller asdescribed above. As a further non-limiting example, sub-controller 940may include one or more processors, logic components and/or computingdevices capable of receiving, processing, and/or transmitting dataacross the distributed flight controller as described above. As afurther non-limiting example, sub-controller 940 may include acontroller that receives a signal from a first flight controller and/orfirst distributed flight controller component and transmits the signalto a plurality of additional sub-controllers and/or flight components.

Still referring to FIG. 9 , flight controller may include aco-controller 944. As used in this disclosure a “co-controller” is acontroller and/or component that joins flight controller 904 ascomponents and/or nodes of a distributer flight controller as describedabove. For example, and without limitation, co-controller 944 mayinclude one or more controllers and/or components that are similar toflight controller 904. As a further non-limiting example, co-controller944 may include any controller and/or component that joins flightcontroller 904 to distributer flight controller. As a furthernon-limiting example, co-controller 944 may include one or moreprocessors, logic components and/or computing devices capable ofreceiving, processing, and/or transmitting data to and/or from flightcontroller 904 to distributed flight control system. Co-controller 944may include any component of any flight controller as described above.Co-controller 944 may be implemented in any manner suitable forimplementation of a flight controller as described above.

In an embodiment, and with continued reference to FIG. 9 , flightcontroller 904 may be designed and/or configured to perform any method,method step, or sequence of method steps in any embodiment described inthis disclosure, in any order and with any degree of repetition. Forinstance, flight controller 904 may be configured to perform a singlestep or sequence repeatedly until a desired or commanded outcome isachieved; repetition of a step or a sequence of steps may be performediteratively and/or recursively using outputs of previous repetitions asinputs to subsequent repetitions, aggregating inputs and/or outputs ofrepetitions to produce an aggregate result, reduction or decrement ofone or more variables such as global variables, and/or division of alarger processing task into a set of iteratively addressed smallerprocessing tasks. Flight controller may perform any step or sequence ofsteps as described in this disclosure in parallel, such assimultaneously and/or substantially simultaneously performing a step twoor more times using two or more parallel threads, processor cores, orthe like; division of tasks between parallel threads and/or processesmay be performed according to any protocol suitable for division oftasks between iterations. Persons skilled in the art, upon reviewing theentirety of this disclosure, will be aware of various ways in whichsteps, sequences of steps, processing tasks, and/or data may besubdivided, shared, or otherwise dealt with using iteration, recursion,and/or parallel processing.

The foregoing has been a detailed description of illustrativeembodiments of the invention. Various modifications and additions can bemade without departing from the spirit and scope of this invention.Features of each of the various embodiments described above may becombined with features of other described embodiments as appropriate inorder to provide a multiplicity of feature combinations in associatednew embodiments. Furthermore, while the foregoing describes a number ofseparate embodiments, what has been described herein is merelyillustrative of the application of the principles of the presentinvention. Additionally, although particular methods herein may beillustrated and/or described as being performed in a specific order, theordering is highly variable within ordinary skill to achieve methods,systems, and software according to the present disclosure. Accordingly,this description is meant to be taken only by way of example, and not tootherwise limit the scope of this invention.

Exemplary embodiments have been disclosed above and illustrated in theaccompanying drawings. It will be understood by those skilled in the artthat various changes, omissions and additions may be made to that whichis specifically disclosed herein without departing from the spirit andscope of the present invention.

What is claimed is:
 1. A system for dynamic excitation of an energystorage element configured for use in an electric aircraft, the systemcomprising: a plurality of propulsors mechanically connected to theelectric aircraft; a plurality of energy storage elements electricallyconnected to the plurality of propulsors; a bus element, wherein the buselement is electrically connected to the plurality of energy storageelements; and a cross tie element, the cross tie element connected tothe bus element and configured to disconnect a first energy storageelement of the plurality of storage elements from a second energystorage element of the plurality of storage elements, wherein the firststorage element is electrically connected to a first propulsor elementincorporated in the plurality of propulsors and the second energystorage element is electrically connected to a second propulsor elementincorporated in the plurality of propulsors.
 2. The system of claim 1,wherein the cross tie element comprises at least a switch.
 3. The systemof claim 1, wherein the plurality of energy storage elements comprises abattery module.
 4. The system of claim 1, further comprising a modulatorunit electrically connected to the bus element, the modulator unitconfigured to modulate a first electrical command to the first propulsorelement and a second electrical command to the second propulsor element.5. The system of claim 4, wherein modulating the first electricalcommand and second electrical command comprises drawing electricalenergy from the first energy storage element.
 6. The system of claim 4,wherein the modulator unit is further configured to measure at least anelectrical parameter as a function of the modulation of the firstelectrical command.
 7. The system of claim 6, wherein measuring theelectrical parameter further comprises detecting a change in theelectrical parameter.
 8. The system of claim 1, wherein the bus elementcomprises a ring bus.
 9. The system of claim 1, wherein the cross tieelement is configured to: receive a datum from at least a sensor; anddisconnect the first energy storage element from the second energystorage element as a function of the datum.
 10. The system of claim 9,wherein the energy datum comprises a health datum.
 11. A method fordynamic excitation of an energy storage element configured for use inelectric aircraft, the method comprising: disconnecting, by a cross tieelement connected to a bus element, a first energy storage elementelectrically connected to the bus element from a second energy storageelement electrically connected to the bus element, wherein the firststorage element is electrically connected to a first propulsor elementincorporated in a plurality of propulsors and the second energy storageelement is electrically connected to a second propulsor elementincorporated in the plurality of propulsors.
 12. The method of claim 11,wherein cross tie element comprises a switch.
 13. The method of claim11, wherein the energy storage element comprises a battery module. 14.The method of claim 11, wherein the modulator unit comprises aprocessor.
 15. The method of claim 11, further comprising modulating, bya modulator unit, a first electrical command to the first propulsorelement and a second electrical command to the second propulsor element.16. The method of claim 14, wherein modulating the first electricalcommand and second electrical command comprises drawing electricalenergy from the first energy storage element.
 17. The method of claim14, wherein the modulator unit is further configured to measure at leastan electrical parameter as a function of the modulation of the firstelectrical command.
 18. The method of claim 16, wherein measuring theelectrical parameter further comprises detecting a change in theelectrical parameter.
 19. The method of claim 11, wherein the cross tieelement is configured to: receive a datum from at least a sensor; anddisconnect the first energy storage element from the second energystorage element as a function of the datum.
 20. The method of claim 19,wherein the energy datum comprises a health datum.